118
Total objective tests
35
Objectives passed
0
Objectives failed
83
Objectives skipped
9.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass54 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 45.5s | 9372 errors · 297 warnings · 9716 info |
+ 0.00sINFOros2_control_node[2026-06-11 18:46:18.553] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-11 18:46:18.553] [info] Accepted new action goal ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 1804.522 us (Expected < 1666.667 us) --> Read time : 255.850 us, Update time : 798.572 us, Write time : 750.100 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 1804.522 us (Expected < 1666.667 us) --> Read time : 255.850 us, Update time : 798.572 us, Write time : 750.100 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674491 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674491 ms (missed cycles : 3).[0m ×2 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671135 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671135 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun might occur, Total time : 2290.863 us (Expected < 1666.667 us) --> Read time : 652.877 us, Update time : 485.149 us, Write time : 1152.837 us + 2.26sWARNros2_control_nodeOverrun might occur, Total time : 2290.863 us (Expected < 1666.667 us) --> Read time : 652.877 us, Update time : 485.149 us, Write time : 1152.837 us[0m ×2 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790295 ms (missed cycles : 3). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790295 ms (missed cycles : 3).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 2072.493 us (Expected < 1666.667 us) --> Read time : 426.817 us, Update time : 623.825 us, Write time : 1021.851 us + 3.38sWARNros2_control_nodeOverrun might occur, Total time : 2072.493 us (Expected < 1666.667 us) --> Read time : 426.817 us, Update time : 623.825 us, Write time : 1021.851 us[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1781203582.16323423 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609350 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609350 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781203582.75541687 seconds. ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.38sINFOros2_control_node[2026-06-11 18:46:22.930] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-06-11 18:46:22.930] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 3066.443 us (Expected < 1666.667 us) --> Read time : 199.388 us, Update time : 2095.264 us, Write time : 771.791 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 3066.443 us (Expected < 1666.667 us) --> Read time : 199.388 us, Update time : 2095.264 us, Write time : 771.791 us[0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.282783 ms (missed cycles : 6). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.282783 ms (missed cycles : 6).[0m ×2 + 5.78sWARNcontroller_managerOverrun might occur, Total time : 2109.595 us (Expected < 1666.667 us) --> Read time : 219.949 us, Update time : 812.152 us, Write time : 1077.494 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 2109.595 us (Expected < 1666.667 us) --> Read time : 219.949 us, Update time : 812.152 us, Write time : 1077.494 us[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851315 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851315 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 6.75sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 6.78sWARNcontroller_managerOverrun might occur, Total time : 2282.241 us (Expected < 1666.667 us) --> Read time : 361.704 us, Update time : 784.542 us, Write time : 1135.995 us + 6.78sWARNros2_control_nodeOverrun might occur, Total time : 2282.241 us (Expected < 1666.667 us) --> Read time : 361.704 us, Update time : 784.542 us, Write time : 1135.995 us[0m ×2 + 6.81sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 6.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 6.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 6.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 6.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 6.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 6.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 6.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 6.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681853 ms (missed cycles : 2). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681853 ms (missed cycles : 2).[0m ×2 + 7.87sWARNcontroller_managerOverrun might occur, Total time : 2646.197 us (Expected < 1666.667 us) --> Read time : 455.469 us, Update time : 89.603 us, Write time : 2101.125 us + 7.88sWARNros2_control_nodeOverrun might occur, Total time : 2646.197 us (Expected < 1666.667 us) --> Read time : 455.469 us, Update time : 89.603 us, Write time : 2101.125 us[0m ×2 + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918523 ms (missed cycles : 3). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918523 ms (missed cycles : 3).[0m ×2 + 8.88sWARNcontroller_managerOverrun might occur, Total time : 2166.646 us (Expected < 1666.667 us) --> Read time : 1397.606 us, Update time : 109.994 us, Write time : 659.046 us + 8.88sWARNros2_control_nodeOverrun might occur, Total time : 2166.646 us (Expected < 1666.667 us) --> Read time : 1397.606 us, Update time : 109.994 us, Write time : 659.046 us[0m ×2 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891835 ms (missed cycles : 5). + 9.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891835 ms (missed cycles : 5).[0m ×2 + 9.35sINFOjoint_trajectory_controllerReceived new action goal ×3152 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551082582078 + 9.36sINFOros2_control_nodeReceived new action goal[0m ×6304 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551082582078[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000717880986030 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000717880986030[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000940076169822 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000940076169822[0m ×2 + 9.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001046539015018 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001046539015018[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001080204791282 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001080204791282[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001380237371552 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001380237371552[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001717847382040 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001717847382040[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001409424616823 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001409424616823[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001184843242884 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001184843242884[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001487394404561 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001487394404561[0m ×2 + 9.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001206754573322 + 9.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001206754573322[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001020056948672 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001020056948672[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000903761717382 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000903761717382[0m ×2 + 9.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000837846257829 + 9.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000837846257829[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000944278492923 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000944278492923[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000909839897547 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000909839897547[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888967442356 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888967442356[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000878148573074 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000878148573074[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000874521454355 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000874521454355[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000875784504504 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000875784504504[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001188992291068 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001188992291068[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001065349021671 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001065349021671[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001084258963914 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001084258963914[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001018985200303 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001018985200303[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001335760832018 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001335760832018[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001163444060045 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001163444060045[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001048687945695 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001048687945695[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001221454188483 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001221454188483[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001080266463286 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001080266463286[0m ×2 + 9.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001094817200117 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001094817200117[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001145284466022 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001145284466022[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001193564596734 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001193564596734[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001126678217885 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001126678217885[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001452795877751 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001452795877751[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001272276238633 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001272276238633[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000980264051106 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000980264051106[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001542322822993 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001542322822993[0m ×2 + 9.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001358084252227 + 9.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001358084252227[0m ×2 + 9.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001226675382310 + 9.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001226675382310[0m ×2 + 9.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001137869453197 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001137869453197[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001081658558111 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001081658558111[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415918226923 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415918226923[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001249728861127 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001249728861127[0m ×2 + 9.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001142618956327 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001142618956327[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001078778084101 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001078778084101[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001045231089227 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001045231089227[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001031847267304 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001031847267304[0m ×2 + 9.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001562489270387 + 9.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001562489270387[0m ×2 + 9.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001571024003027 + 9.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001571024003027[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001361966136944 + 9.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001361966136944[0m ×2 + 9.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001224614701430 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001224614701430[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001140408359193 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001140408359193[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001325807424435 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001325807424435[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001205418261350 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001205418261350[0m ×2 + 9.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001133654556331 + 9.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001133654556331[0m ×2 + 9.89sWARNcontroller_managerOverrun might occur, Total time : 3915.607 us (Expected < 1666.667 us) --> Read time : 284.711 us, Update time : 3067.763 us, Write time : 563.133 us + 9.89sWARNros2_control_nodeOverrun might occur, Total time : 3915.607 us (Expected < 1666.667 us) --> Read time : 284.711 us, Update time : 3067.763 us, Write time : 563.133 us[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001095791685768 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001095791685768[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001235853012489 + 9.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001235853012489[0m ×2 + 9.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001746083517776 + 9.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001746083517776[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001506458381639 + 9.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001506458381639[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001343797018869 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001343797018869[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001533088075548 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001533088075548[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001353929698256 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001353929698256[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001240700421277 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001240700421277[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001175193112899 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001175193112899[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001527902641391 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001527902641391[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001355430416896 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001355430416896[0m ×2 + 9.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001248031196233 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001248031196233[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001316137191887 + 10.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001316137191887[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001823505140358 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001823505140358[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001840076126284 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001840076126284[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580922109769 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580922109769[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001407126966676 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001407126966676[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001601295973576 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001601295973576[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415052468903 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415052468903[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001134717319939 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001134717319939[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001765969136453 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001765969136453[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001612321283244 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001612321283244[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002052644121124 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002052644121124[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002110508272657 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002110508272657[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001772657235019 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001772657235019[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001542973091478 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918970 ms (missed cycles : 2). + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001542973091478[0m ×2 + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918970 ms (missed cycles : 2).[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001395213148627 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001395213148627[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001883977699241 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001883977699241[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001893238323607 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001893238323607[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001617066318168 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001617066318168[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001439734537638 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001439734537638[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001640183809081 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001640183809081[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001455842962062 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001455842962062[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001345360628773 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001345360628773[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001868925060987 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001868925060987[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001878296296856 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001878296296856[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001620576500350 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001620576500350[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001456233361097 + 10.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001456233361097[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001358380549245 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001358380549245[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001895238493159 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001895238493159[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001311106705441 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001311106705441[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001931297502259 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001931297502259[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002136613491218 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002136613491218[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001805443821563 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001805443821563[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001675093168675 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001675093168675[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001643002727265 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001643002727265[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002150221922894 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002150221922894[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001851902053666 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001851902053666[0m ×2 + 10.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002253198983213 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002253198983213[0m ×2 + 10.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002286317161822 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002286317161822[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001908673220762 + 10.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001908673220762[0m ×2 + 10.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001660186308750 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001660186308750[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002114081322697 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002114081322697[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002132116333910 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002132116333910[0m ×2 + 10.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001802871797320 + 10.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001802871797320[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001593205708729 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001593205708729[0m ×2 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001983307994758 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001983307994758[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001182922377257 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001182922377257[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001940871303269 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001940871303269[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002407350092137 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002407350092137[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002055771884394 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002055771884394[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002428259012343 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002428259012343[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002544085259934 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002544085259934[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002097319963033 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002097319963033[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001799253263346 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001799253263346[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002233861860225 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002233861860225[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002296917986079 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002296917986079[0m ×2 + 10.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001924171544021 + 10.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001924171544021[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001685112537909 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001685112537909[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002084883576291 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002084883576291[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001788756315389 + 10.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001788756315389[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002233668270479 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002233668270479[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001889435696298 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001889435696298[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001716717876573 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001716717876573[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002119828266314 + 10.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002119828266314[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001853376158831 + 10.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001853376158831[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002314529375579 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002314529375579[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001968064397537 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001968064397537[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002373405779106 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002373405779106[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001993795691292 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001993795691292[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001750090090844 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001750090090844[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002241499662421 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002241499662421[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001886402773045 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001886402773045[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002295351999872 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002295351999872[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001972670462200 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001972670462200[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002405276086633 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002405276086633[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001965416375506 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001965416375506[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002418970180887 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002418970180887[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002053947089197 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002053947089197[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002467049133402 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002467049133402[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002071697881812 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002071697881812[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002465824419712 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002465824419712[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002064715911356 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002064715911356[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002460163587030 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002460163587030[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002060021871879 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002060021871879[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002459912879545 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002459912879545[0m ×2 + 10.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002061680290965 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002061680290965[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001838558041063 + 10.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001838558041063[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002257834684459 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002257834684459[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002631019895291 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002631019895291[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002198776945272 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002198776945272[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002575669544654 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002575669544654[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699054169345 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699054169345[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002227574813516 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002227574813516[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002584516577421 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002584516577421[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002148389353523 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002148389353523[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002571663609942 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002571663609942[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002134495681770 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002134495681770[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002524231321434 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002524231321434[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002591533353013 + 10.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002591533353013[0m ×2 + 10.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002152828763873 + 10.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002152828763873[0m ×2 + 10.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001891652299557 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001891652299557[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001860190695241 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001860190695241[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002444041675918 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002444041675918[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002806758475450 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002806758475450[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003235253318238 + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003235253318238[0m ×2 + 10.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002611574244258 + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002611574244258[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002863699841523 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002863699841523[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002339421646790 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002339421646790[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002675742772914 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002675742772914[0m ×2 + 11.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002908952489102 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002908952489102[0m ×2 + 11.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002360323830443 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002360323830443[0m ×2 + 11.04sWARNcontroller_managerOverrun might occur, Total time : 1868.584 us (Expected < 1666.667 us) --> Read time : 351.974 us, Update time : 100.034 us, Write time : 1416.576 us + 11.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002685139831243 + 11.04sWARNros2_control_nodeOverrun might occur, Total time : 1868.584 us (Expected < 1666.667 us) --> Read time : 351.974 us, Update time : 100.034 us, Write time : 1416.576 us[0m ×2 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002685139831243[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002217685368043 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002217685368043[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002602697006705 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002602697006705[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002854132081785 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002854132081785[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002857324102371 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002857324102371[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002332019422603 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002332019422603[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002679065442455 + 11.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002679065442455[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002118392329171 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002118392329171[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001958094506977 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001958094506977[0m ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458292 ms (missed cycles : 2). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458292 ms (missed cycles : 2).[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002526853692219 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002526853692219[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002161523497152 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002161523497152[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002663277270584 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002663277270584[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474013837064 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474013837064[0m ×2 + 11.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003476764636964 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003476764636964[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002752617973460 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002752617973460[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001682202526201 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001682202526201[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002372850333348 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002372850333348[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812527515875 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812527515875[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003075844906767 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003075844906767[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003220665121861 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003220665121861[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003460304977766 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003460304977766[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002745078574179 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002745078574179[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967758353122 + 11.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967758353122[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003106551700940 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003106551700940[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003188108939437 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003188108939437[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002535170516397 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002535170516397[0m ×2 + 11.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818619717176 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818619717176[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003059794656355 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003059794656355[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002460101289193 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002460101289193[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002781431024087 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002781431024087[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002995719969300 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002995719969300[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003132218848158 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003132218848158[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203137949211 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203137949211[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002557268735803 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002557268735803[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002848537244721 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002848537244721[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003091170540874 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003091170540874[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001769529790745 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001769529790745[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002447204346489 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002447204346489[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881885202930 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881885202930[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003713639313222 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003713639313222[0m ×2 + 11.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003663938828870 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003663938828870[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003593604725093 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003593604725093[0m ×2 + 11.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003521330386050 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003521330386050[0m ×2 + 11.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003560039559197 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003560039559197[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002773647770893 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002773647770893[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976864227004 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976864227004[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114807063780 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114807063780[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204794756720 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204794756720[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003260944779293 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003260944779293[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003294193005269 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003294193005269[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003312643831632 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003312643831632[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351576743076 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351576743076[0m ×2 + 11.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634800306012 + 11.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634800306012[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002895902373486 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002895902373486[0m ×2 + 11.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003350523480486 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003350523480486[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001513830794189 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001513830794189[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001969730742800 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001969730742800[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002074378219173 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002074378219173[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002717574350850 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002717574350850[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003108859270917 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003108859270917[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003952710230481 + 11.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003952710230481[0m ×2 + 11.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003855797834857 + 11.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003855797834857[0m ×2 + 11.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003744244081764 + 11.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003744244081764[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003638449436817 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003638449436817[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003548291433949 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003548291433949[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004005911273417 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004005911273417[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763111734353 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763111734353[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003591354307233 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003591354307233[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003475835757716 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003475835757716[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003610087412675 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003610087412675[0m ×2 + 11.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003486559936822 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003486559936822[0m ×2 + 11.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003408844626939 + 11.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003408844626939[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003363710912949 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003363710912949[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003498187784893 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003498187784893[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003424736485106 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003424736485106[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001485928450522 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001485928450522[0m ×2 + 11.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002338116355079 + 11.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002338116355079[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003189185741176 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003189185741176[0m ×2 + 11.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002539108310539 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002539108310539[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002262036709405 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002262036709405[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002169210099585 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002169210099585[0m ×2 + 11.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002770621698076 + 11.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002770621698076[0m ×2 + 11.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623484905559 + 11.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623484905559[0m ×2 + 11.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005007467012639 + 11.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005007467012639[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004492509496051 + 11.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004492509496051[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004954091216563 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004954091216563[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389569991801 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389569991801[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003985446436707 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003985446436707[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709199679877 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709199679877[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004171167927654 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004171167927654[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003818716711093 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003818716711093[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003589422585065 + 11.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003589422585065[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003839564111749 + 11.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003839564111749[0m ×2 + 11.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003605550702443 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003605550702443[0m ×2 + 11.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003732397248165 + 11.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003732397248165[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863023208043 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863023208043[0m ×2 + 11.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712414845080 + 11.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712414845080[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599114696182 + 12.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599114696182[0m ×2 + 12.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003517375245634 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003517375245634[0m ×2 + 12.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003460816631402 + 12.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003460816631402[0m ×2 + 12.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004316707718787 + 12.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004316707718787[0m ×2 + 12.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958409828347 + 12.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958409828347[0m ×2 + 12.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712002969364 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712002969364[0m ×2 + 12.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550250469624 + 12.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550250469624[0m ×2 + 12.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013590000156 + 12.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013590000156[0m ×2 + 12.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739415126749 + 12.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739415126749[0m ×2 + 12.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003560782776896 + 12.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003560782776896[0m ×2 + 12.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004024198478371 + 12.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004024198478371[0m ×2 + 12.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740483150679 + 12.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740483150679[0m ×2 + 12.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003557084651650 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003557084651650[0m ×2 + 12.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003445296199106 + 12.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003445296199106[0m ×2 + 12.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003704523673593 + 12.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003704523673593[0m ×2 + 12.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003602167133869 + 12.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003602167133869[0m ×2 + 12.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004458809380695 + 12.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004458809380695[0m ×2 + 12.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061005233068 + 12.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061005233068[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003782576310829 + 12.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003782576310829[0m ×2 + 12.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003595966484063 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003595966484063[0m ×2 + 12.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452448304327 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452448304327[0m ×2 + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758300 ms (missed cycles : 2). + 12.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004012092365936 + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758300 ms (missed cycles : 2).[0m ×2 + 12.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004012092365936[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717362375482 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717362375482[0m ×2 + 12.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003771065739171 + 12.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003771065739171[0m ×2 + 12.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004960936826589 + 12.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004960936826589[0m ×2 + 12.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005034343588691 + 12.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005034343588691[0m ×2 + 12.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398978899543 + 12.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398978899543[0m ×2 + 12.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004025522233325 + 12.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004025522233325[0m ×2 + 12.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003754687798824 + 12.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003754687798824[0m ×2 + 12.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004914495993563 + 12.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004914495993563[0m ×2 + 12.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005050019930805 + 12.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005050019930805[0m ×2 + 12.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381038146175 + 12.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381038146175[0m ×2 + 12.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927007895352 + 12.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927007895352[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003633267314828 + 12.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003633267314828[0m ×2 + 12.30sWARNcontroller_managerOverrun might occur, Total time : 1899.207 us (Expected < 1666.667 us) --> Read time : 262.931 us, Update time : 993.100 us, Write time : 643.176 us + 12.30sWARNros2_control_nodeOverrun might occur, Total time : 1899.207 us (Expected < 1666.667 us) --> Read time : 262.931 us, Update time : 993.100 us, Write time : 643.176 us[0m ×2 + 12.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004793201664575 + 12.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004793201664575[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189418508220 + 12.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189418508220[0m ×2 + 12.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003789730571858 + 12.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003789730571858[0m ×2 + 12.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004876477766024 + 12.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004876477766024[0m ×2 + 12.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004888076643415 + 12.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004888076643415[0m ×2 + 12.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155737693547 + 12.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155737693547[0m ×2 + 12.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003796552726565 + 12.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003796552726565[0m ×2 + 12.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900483783074 + 12.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900483783074[0m ×2 + 12.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150031701042 + 12.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150031701042[0m ×2 + 12.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412398334272 + 12.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412398334272[0m ×2 + 12.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003917614290311 + 12.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003917614290311[0m ×2 + 12.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004935989324107 + 12.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004935989324107[0m ×2 + 12.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245067790471 + 12.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245067790471[0m ×2 + 12.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705373920019 + 12.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705373920019[0m ×2 + 12.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079331584753 + 12.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079331584753[0m ×2 + 12.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677795692847 + 12.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677795692847[0m ×2 + 12.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004767093610665 + 12.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004767093610665[0m ×2 + 12.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004070892258307 + 12.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004070892258307[0m ×2 + 12.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005056913402389 + 12.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005056913402389[0m ×2 + 12.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004336839715874 + 12.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004336839715874[0m ×2 + 12.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005183754625330 + 12.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005183754625330[0m ×2 + 12.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004378747997490 + 12.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004378747997490[0m ×2 + 12.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174938713784 + 12.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174938713784[0m ×2 + 12.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005247452727895 + 12.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005247452727895[0m ×2 + 12.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390922959723 + 12.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390922959723[0m ×2 + 12.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156865715615 + 12.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156865715615[0m ×2 + 12.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315091474188 + 12.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315091474188[0m ×2 + 12.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005094462886341 + 12.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005094462886341[0m ×2 + 12.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267371571660 + 12.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267371571660[0m ×2 + 12.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004723249709008 + 12.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004723249709008[0m ×2 + 12.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004021136843501 + 12.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004021136843501[0m ×2 + 12.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900618303908 + 12.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900618303908[0m ×2 + 12.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005146877496471 + 12.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005146877496471[0m ×2 + 12.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300834183280 + 12.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300834183280[0m ×2 + 12.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773851689154 + 12.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773851689154[0m ×2 + 12.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683989002578 + 12.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683989002578[0m ×2 + 12.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003732384026821 + 12.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003732384026821[0m ×2 + 12.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004880112986868 + 12.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004880112986868[0m ×2 + 12.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005575206569482 + 12.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005575206569482[0m ×2 + 12.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006410859617234 + 12.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006410859617234[0m ×2 + 12.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552621093507 + 12.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552621093507[0m ×2 + 12.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695188049647 + 12.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695188049647[0m ×2 + 12.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005404064434123 + 12.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005404064434123[0m ×2 + 12.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005810515393954 + 12.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005810515393954[0m ×2 + 12.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006015627768759 + 12.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006015627768759[0m ×2 + 12.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006464671747098 + 12.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006464671747098[0m ×2 + 12.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005073494071815 + 12.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005073494071815[0m ×2 + 12.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005450565533780 + 12.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005450565533780[0m ×2 + 12.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005678853760786 + 12.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005678853760786[0m ×2 + 12.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004510148890343 + 12.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004510148890343[0m ×2 + 12.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005058986842781 + 12.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005058986842781[0m ×2 + 12.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005417257317651 + 12.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005417257317651[0m ×2 + 12.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005658393549814 + 12.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005658393549814[0m ×2 + 12.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004497111193841 + 12.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004497111193841[0m ×2 + 12.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005044983838125 + 12.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005044983838125[0m ×2 + 12.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005401514213532 + 12.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005401514213532[0m ×2 + 12.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005618942660657 + 12.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005618942660657[0m ×2 + 12.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005748712254153 + 12.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005748712254153[0m ×2 + 12.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004537568232182 + 12.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004537568232182[0m ×2 + 12.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005045528375377 + 12.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005045528375377[0m ×2 + 12.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005376835110332 + 12.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005376835110332[0m ×2 + 12.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003023045699083 + 12.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003023045699083[0m ×2 + 12.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527390075352 + 12.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527390075352[0m ×2 + 12.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005194964266536 + 12.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005194964266536[0m ×2 + 12.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005585051258078 + 12.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005585051258078[0m ×2 + 12.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005787164639467 + 12.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005787164639467[0m ×2 + 12.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006596531617826 + 12.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006596531617826[0m ×2 + 12.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006370523977885 + 12.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006370523977885[0m ×2 + 12.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006165096910702 + 12.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006165096910702[0m ×2 + 12.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005991841458164 + 12.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005991841458164[0m ×2 + 12.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006227486348391 + 12.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006227486348391[0m ×2 + 12.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005999416647511 + 12.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005999416647511[0m ×2 + 12.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005830724750529 + 12.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005830724750529[0m ×2 + 13.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006250383346829 + 13.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006250383346829[0m ×2 + 13.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006037133489671 + 13.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006037133489671[0m ×2 + 13.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006270649152094 + 13.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006270649152094[0m ×2 + 13.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006011843345269 + 13.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006011843345269[0m ×2 + 13.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005819516866530 + 13.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005819516866530[0m ×2 + 13.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006249299039684 + 13.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006249299039684[0m ×2 + 13.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005947502250965 + 13.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005947502250965[0m ×2 + 13.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005737047491137 + 13.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005737047491137[0m ×2 + 13.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006120559232634 + 13.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006120559232634[0m ×2 + 13.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005908015283332 + 13.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005908015283332[0m ×2 + 13.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006230083287932 + 13.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006230083287932[0m ×2 + 13.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005983120332087 + 13.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005983120332087[0m ×2 + 13.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005785527702301 + 13.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005785527702301[0m ×2 + 13.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007227560261874 + 13.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007227560261874[0m ×2 + 13.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006525574575000 + 13.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006525574575000[0m ×2 + 13.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006028874039557 + 13.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006028874039557[0m ×2 + 13.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005691572293266 + 13.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005691572293266[0m ×2 + 13.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005472453120224 + 13.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005472453120224[0m ×2 + 13.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006245395834848 + 13.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006245395834848[0m ×2 + 13.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005815052901720 + 13.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005815052901720[0m ×2 + 13.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005530844129135 + 13.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005530844129135[0m ×2 + 13.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005351967910580 + 13.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005351967910580[0m ×2 + 13.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006770144084307 + 13.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006770144084307[0m ×2 + 13.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006122137067437 + 13.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006122137067437[0m ×2 + 13.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005685871261281 + 13.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005685871261281[0m ×2 + 13.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005405589214718 + 13.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005405589214718[0m ×2 + 13.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005235257824934 + 13.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005235257824934[0m ×2 + 13.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006639294857286 + 13.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006639294857286[0m ×2 + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553150 ms (missed cycles : 4). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553150 ms (missed cycles : 4).[0m ×2 + 13.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006006080844499 + 13.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006006080844499[0m ×2 + 13.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005907472844589 + 13.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005907472844589[0m ×2 + 13.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005971680038267 + 13.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005971680038267[0m ×2 + 13.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007850107422935 + 13.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007850107422935[0m ×2 + 13.30sWARNcontroller_managerOverrun might occur, Total time : 3901.777 us (Expected < 1666.667 us) --> Read time : 207.678 us, Update time : 3174.158 us, Write time : 519.941 us + 13.30sWARNros2_control_nodeOverrun might occur, Total time : 3901.777 us (Expected < 1666.667 us) --> Read time : 207.678 us, Update time : 3174.158 us, Write time : 519.941 us[0m ×2 + 13.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008598137565696 + 13.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008598137565696[0m ×2 + 13.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536974099800 + 13.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536974099800[0m ×2 + 13.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007035916419023 + 13.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007035916419023[0m ×2 + 13.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008544567971135 + 13.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008544567971135[0m ×2 + 13.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007232779992873 + 13.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007232779992873[0m ×2 + 13.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008426892369764 + 13.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008426892369764[0m ×2 + 13.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008823520674603 + 13.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008823520674603[0m ×2 + 13.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007215995308412 + 13.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007215995308412[0m ×2 + 13.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006124921659135 + 13.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006124921659135[0m ×2 + 13.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007529112500617 + 13.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007529112500617[0m ×2 + 13.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007921782383997 + 13.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007921782383997[0m ×2 + 13.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006534835695208 + 13.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006534835695208[0m ×2 + 13.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007721113170377 + 13.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007721113170377[0m ×2 + 13.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006358699331660 + 13.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006358699331660[0m ×2 + 13.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007558276424111 + 13.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007558276424111[0m ×2 + 13.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005942339408801 + 13.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005942339408801[0m ×2 + 13.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005454731533740 + 13.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005454731533740[0m ×2 + 13.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007136747548259 + 13.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007136747548259[0m ×2 + 13.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008155118339439 + 13.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008155118339439[0m ×2 + 13.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009451935778904 + 13.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009451935778904[0m ×2 + 13.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007478300037399 + 13.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007478300037399[0m ×2 + 13.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008161459134169 + 13.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008161459134169[0m ×2 + 13.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008532058139933 + 13.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008532058139933[0m ×2 + 13.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008564192645599 + 13.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008564192645599[0m ×2 + 13.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006711683291478 + 13.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006711683291478[0m ×2 + 13.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007509585834733 + 13.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007509585834733[0m ×2 + 13.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007998875567877 + 13.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007998875567877[0m ×2 + 13.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008368828850698 + 13.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008368828850698[0m ×2 + 13.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006518880018337 + 13.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006518880018337[0m ×2 + 13.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007306261292765 + 13.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007306261292765[0m ×2 + 13.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007984268307896 + 13.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007984268307896[0m ×2 + 13.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008214252795231 + 13.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008214252795231[0m ×2 + 13.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005722590697499 + 13.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005722590697499[0m ×2 + 13.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006833337422894 + 13.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006833337422894[0m ×2 + 13.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007530066174237 + 13.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007530066174237[0m ×2 + 13.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008757039451948 + 13.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008757039451948[0m ×2 + 13.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008679400903102 + 13.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008679400903102[0m ×2 + 13.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008541630774475 + 13.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008541630774475[0m ×2 + 13.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009198073887187 + 13.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009198073887187[0m ×2 + 13.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008783498604666 + 13.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008783498604666[0m ×2 + 13.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008447268517133 + 13.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008447268517133[0m ×2 + 13.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008948766619304 + 13.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008948766619304[0m ×2 + 13.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008557364802174 + 13.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008557364802174[0m ×2 + 13.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009196943462034 + 13.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009196943462034[0m ×2 + 13.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008629261853331 + 13.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008629261853331[0m ×2 + 13.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008204618308877 + 13.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008204618308877[0m ×2 + 13.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008620823022685 + 13.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008620823022685[0m ×2 + 13.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009246985136823 + 13.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009246985136823[0m ×2 + 13.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008615984216519 + 13.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008615984216519[0m ×2 + 13.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008139284632835 + 13.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008139284632835[0m ×2 + 13.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007790062221201 + 13.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007790062221201[0m ×2 + 13.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007540561400722 + 13.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007540561400722[0m ×2 + 13.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009630856051888 + 13.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009630856051888[0m ×2 + 13.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008863117423980 + 13.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008863117423980[0m ×2 + 13.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008174344544242 + 13.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008174344544242[0m ×2 + 13.82sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893678 ms (missed cycles : 2). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893678 ms (missed cycles : 2).[0m ×2 + 14.34sWARNcontroller_managerOverrun might occur, Total time : 12100.217 us (Expected < 1666.667 us) --> Read time : 11241.022 us, Update time : 102.364 us, Write time : 756.831 us + 14.34sWARNros2_control_nodeOverrun might occur, Total time : 12100.217 us (Expected < 1666.667 us) --> Read time : 11241.022 us, Update time : 102.364 us, Write time : 756.831 us[0m ×2 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3).[0m ×2 + 15.40sWARNcontroller_managerOverrun might occur, Total time : 5583.445 us (Expected < 1666.667 us) --> Read time : 233.259 us, Update time : 4830.825 us, Write time : 519.361 us + 15.40sWARNros2_control_nodeOverrun might occur, Total time : 5583.445 us (Expected < 1666.667 us) --> Read time : 233.259 us, Update time : 4830.825 us, Write time : 519.361 us[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551082582607 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551082582607[0m ×2 + 15.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000874223843591 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000874223843591[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001041048600238 + 15.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001041048600238[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001107098342820 + 15.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001107098342820[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001406500770532 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001406500770532[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001288305186457 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001288305186457[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001647013006686 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001647013006686[0m ×2 + 15.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001357063816392 + 15.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001357063816392[0m ×2 + 15.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001659291903632 + 15.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001659291903632[0m ×2 + 15.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001325547204819 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001325547204819[0m ×2 + 15.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000359344392478 + 15.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000359344392478[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001051408962346 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001051408962346[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001077649228137 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001077649228137[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494429019571 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494429019571[0m ×2 + 15.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001248303498665 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001248303498665[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001077837567196 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001077837567196[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001168336320179 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001168336320179[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001019953807615 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001019953807615[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000927573806684 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000927573806684[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000875462257114 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000875462257114[0m ×2 + 15.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001081096717065 + 15.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001081096717065[0m ×2 + 15.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001225971200419 + 15.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001225971200419[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002339482403532 + 15.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002339482403532[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002677876118436 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002677876118436[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003115164395977 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003115164395977[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003167005886083 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003167005886083[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003164753777199 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003164753777199[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003117841881434 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003117841881434[0m ×2 + 16.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003043582671282 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003043582671282[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002958937454514 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002958937454514[0m ×2 + 16.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003292512935592 + 16.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003292512935592[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365832981664 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365832981664[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003603213796712 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003603213796712[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003240999635621 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003240999635621[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002985513279531 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002985513279531[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002815205201000 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002815205201000[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003628356742878 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003628356742878[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003182339294863 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003182339294863[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002893071882575 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002893071882575[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002718734536904 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002718734536904[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003532259882419 + 16.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003532259882419[0m ×2 + 16.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003096860940772 + 16.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003096860940772[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002825303999933 + 16.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002825303999933[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264700325181 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264700325181[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002925040005431 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002925040005431[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002723406699839 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002723406699839[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002616010278285 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002616010278285[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003056835317089 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003056835317089[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002824124853285 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002824124853285[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003091745974658 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003091745974658[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002902563708555 + 16.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002902563708555[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003162496299664 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003162496299664[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002966310888250 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002966310888250[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113049410934 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113049410934[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785757 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785757 ms (missed cycles : 2).[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003478327846087 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003478327846087[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003241880347014 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003241880347014[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002953866988846 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002953866988846[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002775987471480 + 16.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002775987471480[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674386075883 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674386075883[0m ×2 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003907187342320 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003907187342320[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003337189131568 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003337189131568[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002970590735081 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002970590735081[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003398418427565 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003398418427565[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003001387702287 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003001387702287[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002762836578234 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002762836578234[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192372658841 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192372658841[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002883354878888 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002883354878888[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002703823555531 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002703823555531[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002610609830020 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002610609830020[0m ×2 + 16.40sWARNcontroller_managerOverrun might occur, Total time : 1798.522 us (Expected < 1666.667 us) --> Read time : 275.631 us, Update time : 970.149 us, Write time : 552.742 us + 16.40sWARNros2_control_nodeOverrun might occur, Total time : 1798.522 us (Expected < 1666.667 us) --> Read time : 275.631 us, Update time : 970.149 us, Write time : 552.742 us[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002571722959500 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002571722959500[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002657734654320 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002657734654320[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029426274323 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029426274323[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004447628078087 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004447628078087[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003765449913304 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003765449913304[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284954351986 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284954351986[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204154989541 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204154989541[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003486443404726 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003486443404726[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003711613186692 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003711613186692[0m ×2 + 16.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003159721847284 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003159721847284[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002824107464902 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002824107464902[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002638831117415 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002638831117415[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003418874686192 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003418874686192[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007385203465 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007385203465[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002761981113420 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002761981113420[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002629466641745 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002629466641745[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003411430535025 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003411430535025[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003232960100512 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003232960100512[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002949695072813 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002949695072813[0m ×2 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004018486432844 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004018486432844[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003390105417888 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003390105417888[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003803091269703 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003803091269703[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003232794938317 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003232794938317[0m ×2 + 16.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002880114723112 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002880114723112[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002683547336337 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002683547336337[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003461031388038 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003461031388038[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002721288562183 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002721288562183[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002949614465415 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002949614465415[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129877746161 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129877746161[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003540198016512 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003540198016512[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003310359752144 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003310359752144[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723153098430 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723153098430[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004482181390128 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004482181390128[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003675765051747 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003675765051747[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003153793165178 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003153793165178[0m ×2 + 16.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066670271551 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066670271551[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003375798708919 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003375798708919[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003786368892664 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003786368892664[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003193517155359 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003193517155359[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003087651098276 + 16.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003087651098276[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003497935798987 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003497935798987[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003089713443324 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003089713443324[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003136177856831 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003136177856831[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004130080661707 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004130080661707[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004532692875508 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004532692875508[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003720852751803 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003720852751803[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003190113952157 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003190113952157[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077266979158 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077266979158[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003383577641594 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003383577641594[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003787823596717 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003787823596717[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003193589496831 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003193589496831[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003076518872859 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003076518872859[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003123932297434 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003123932297434[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103935302273 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103935302273[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004642551880840 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004642551880840[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004660829285913 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004660829285913[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003754863174364 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003754863174364[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003172063791487 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003172063791487[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004015334782246 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004015334782246[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003322912459545 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003322912459545[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901867888914 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901867888914[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642524727016 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642524727016[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003205986999765 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003205986999765[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072152131799 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072152131799[0m ×2 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003393090194929 + 17.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003393090194929[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004122410939167 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004122410939167[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003401962014740 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003401962014740[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004136439684387 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004136439684387[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002688689124194 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002688689124194[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034238568544 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034238568544[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004042671329101 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004042671329101[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004589250617121 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004589250617121[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004856269189603 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004856269189603[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003832731554114 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003832731554114[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177703570610 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177703570610[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893104926959 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893104926959[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002609140997036 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002609140997036[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003745247993659 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003745247993659[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381428066335 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381428066335[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004712604098436 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004712604098436[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003744086890659 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003744086890659[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004259004853790 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004259004853790[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369188892581 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369188892581[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490832088204 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490832088204[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004089268847685 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004089268847685[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003236967679912 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003236967679912[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003935024835308 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003935024835308[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387427533737 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387427533737[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577812 ms (missed cycles : 2). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577812 ms (missed cycles : 2).[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514985957958 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514985957958[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109011151665 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109011151665[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003328531306786 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003328531306786[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004025202807481 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004025202807481[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003273791832190 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003273791832190[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003961405631177 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003961405631177[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003236179997546 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003236179997546[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003935297819652 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003935297819652[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003194321673540 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003194321673540[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003939753473048 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003939753473048[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004364853262946 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004364853262946[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501247888007 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501247888007[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071776045998 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071776045998[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435824906990 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435824906990[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003520964463629 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003520964463629[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061117147075 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061117147075[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003278606949894 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003278606949894[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003957292384178 + 17.43sWARNcontroller_managerOverrun might occur, Total time : 2969.999 us (Expected < 1666.667 us) --> Read time : 657.026 us, Update time : 88.174 us, Write time : 2224.799 us + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003957292384178[0m ×2 + 17.44sWARNros2_control_nodeOverrun might occur, Total time : 2969.999 us (Expected < 1666.667 us) --> Read time : 657.026 us, Update time : 88.174 us, Write time : 2224.799 us[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003215260011943 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003215260011943[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940171506055 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940171506055[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003780146199014 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003780146199014[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008516842493 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008516842493[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003918046028814 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003918046028814[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004294530023958 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004294530023958[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004486621570616 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004486621570616[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514634936368 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514634936368[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002974166855325 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002974166855325[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003747562217694 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003747562217694[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003130393738807 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003130393738807[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003855638384158 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003855638384158[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005054433553510 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005054433553510[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004976763516552 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004976763516552[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003834110031196 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003834110031196[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004164461548688 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004164461548688[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004359527714151 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004359527714151[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004548555016124 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004548555016124[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536521331339 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536521331339[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995284195010 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995284195010[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267259828631 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267259828631[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456525613750 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456525613750[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482369204663 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482369204663[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966417860775 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966417860775[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315925587840 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315925587840[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003398043748761 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003398043748761[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915240192614 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915240192614[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004557960302895 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004557960302895[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002607757107024 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002607757107024[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811161042911 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811161042911[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003456459466950 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003456459466950[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069392823413 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069392823413[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618459904505 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618459904505[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002828251797367 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002828251797367[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003689525262373 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003689525262373[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004164162171598 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004164162171598[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004402066975530 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004402066975530[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005542656055460 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005542656055460[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005185640039066 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005185640039066[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004898480555634 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004898480555634[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004682710096008 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004682710096008[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529761441521 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529761441521[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626465748819 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626465748819[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484850186942 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484850186942[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003402042375285 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003402042375285[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003772357445476 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003772357445476[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002375641212468 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002375641212468[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003339424225081 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003339424225081[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003881725373128 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003881725373128[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004171870837462 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004171870837462[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005276155300342 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005276155300342[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004971024430973 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004971024430973[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004724016921136 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004724016921136[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005046331565805 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005046331565805[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004750440858509 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004750440858509[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554569380712 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554569380712[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004424694105782 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004424694105782[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338975458721 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338975458721[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004513289692014 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004513289692014[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387528657329 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387528657329[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004305472247801 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004305472247801[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004253114243283 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004253114243283[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004906681185715 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004906681185715[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004953675248343 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004953675248343[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560716564293 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560716564293[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389276097306 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389276097306[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004293176679038 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004293176679038[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004606635266228 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004606635266228[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004418548068654 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004418548068654[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292377720277 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292377720277[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603805599863 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603805599863[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002424200376770 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002424200376770[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512964041688 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512964041688[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005613693014192 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005613693014192[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005015003719920 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005015003719920[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005009863289898 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005009863289898[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005166176101729 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005166176101729[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004660687499421 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004660687499421[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383553228813 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383553228813[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004214879411639 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004214879411639[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109639218403 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109639218403[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004663759781449 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004663759781449[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004376892494869 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004376892494869[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004733171217437 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004733171217437[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010300956015 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010300956015[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004759547744278 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004759547744278[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004401386175184 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004401386175184[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202423329196 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202423329196[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198420286355 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198420286355[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004676597757483 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004676597757483[0m ×2 + 18.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575180 ms (missed cycles : 2). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575180 ms (missed cycles : 2).[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331573550806 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331573550806[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110622642421 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110622642421[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975320146190 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975320146190[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004507122279996 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004507122279996[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004215214500923 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004215214500923[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031408856812 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031408856812[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003919498152535 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003919498152535[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004466542284032 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004466542284032[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099402144350 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099402144350[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005502703741262 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005502703741262[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004768555995859 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004768555995859[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004318098394354 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004318098394354[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004828638674083 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004828638674083[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344944614560 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344944614560[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004050889032648 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004050889032648[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893355324214 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893355324214[0m ×2 + 18.45sWARNcontroller_managerOverrun might occur, Total time : 1872.086 us (Expected < 1666.667 us) --> Read time : 239.240 us, Update time : 395.786 us, Write time : 1237.060 us + 18.45sWARNros2_control_nodeOverrun might occur, Total time : 1872.086 us (Expected < 1666.667 us) --> Read time : 239.240 us, Update time : 395.786 us, Write time : 1237.060 us[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004846447260491 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004846447260491[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004720866399560 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004720866399560[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004199643903056 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004199643903056[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003961997737202 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003961997737202[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896496868031 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896496868031[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397985537529 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397985537529[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077341635252 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077341635252[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003784933934431 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003784933934431[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004882165472721 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004882165472721[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006087287731149 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006087287731149[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005081603993120 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005081603993120[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005887202164178 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005887202164178[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005962033113546 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005962033113546[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004777135980637 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004777135980637[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004311156732446 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004311156732446[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005293738777388 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005293738777388[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536631010890 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536631010890[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005500600508569 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005500600508569[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005511916364306 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005511916364306[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585643225164 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585643225164[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040410916611 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040410916611[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005151393533147 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005151393533147[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004329161610576 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004329161610576[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868531971575 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868531971575[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005023275636513 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005023275636513[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004240216888591 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004240216888591[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005192403049895 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005192403049895[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005260898908976 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005260898908976[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004384453676060 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004384453676060[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003887222360409 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003887222360409[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005000033160719 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005000033160719[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005424851314342 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005424851314342[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480549972426 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480549972426[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004171856273392 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004171856273392[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858694248050 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858694248050[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004636858138879 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004636858138879[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005368591322562 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005368591322562[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005755161354110 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005755161354110[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670004033799 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670004033799[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005097203309559 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005097203309559[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004253175570290 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004253175570290[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005043834525372 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005043834525372[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004140649476667 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004140649476667[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004914563963749 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004914563963749[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152671272107 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152671272107[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762668433283 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762668433283[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005290942463332 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005290942463332[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005504829966959 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005504829966959[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004440674875943 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004440674875943[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005055938685985 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005055938685985[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005444831714224 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005444831714224[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004362296901908 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004362296901908[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365944830989 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365944830989[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162586085155 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162586085155[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872608676953 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872608676953[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004558060954419 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004558060954419[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005042658977310 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005042658977310[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005372042398272 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005372042398272[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005485629867524 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005485629867524[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005864346400464 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005864346400464[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004609249612402 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004609249612402[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004997723648075 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004997723648075[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005142642342991 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005142642342991[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005229724326511 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005229724326511[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005337455505844 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005337455505844[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197295364712 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197295364712[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004679989548745 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004679989548745[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890396114034 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890396114034[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251020940159 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251020940159[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132498647814 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132498647814[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004601396943185 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004601396943185[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004815818360341 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004815818360341[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004937752944330 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004937752944330[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003729299582319 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003729299582319[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245260333997 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245260333997[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573462178399 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573462178399[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763969739195 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763969739195[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003659951650041 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003659951650041[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280112454288 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280112454288[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004641884841084 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004641884841084[0m ×2 + 19.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825599159381 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825599159381[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006762381271889 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006762381271889[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006790633222071 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006790633222071[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006013122524979 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006013122524979[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005480858866302 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005480858866302[0m ×2 + 19.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005659897890560 + 19.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005659897890560[0m ×2 + 19.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005233373480099 + 19.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005233373480099[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946965370074 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946965370074[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004756611655554 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004756611655554[0m ×2 + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013517 ms (missed cycles : 4). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013517 ms (missed cycles : 4).[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005082128195889 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005082128195889[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002468193832160 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002468193832160[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360075500666 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360075500666[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003916426912638 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003916426912638[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005968199650967 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005968199650967[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005461071700468 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005461071700468[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006541121652319 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006541121652319[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005744712044801 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005744712044801[0m ×2 + 19.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005173294505018 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005173294505018[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004780669879542 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004780669879542[0m ×2 + 19.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005362842742424 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005362842742424[0m ×2 + 19.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004888291797967 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004888291797967[0m ×2 + 19.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004577169180859 + 19.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004577169180859[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383988091423 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383988091423[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005455801872536 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005455801872536[0m ×2 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004943617857658 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004943617857658[0m ×2 + 19.49sWARNcontroller_managerOverrun might occur, Total time : 1963.865 us (Expected < 1666.667 us) --> Read time : 805.395 us, Update time : 89.333 us, Write time : 1069.137 us + 19.49sWARNros2_control_nodeOverrun might occur, Total time : 1963.865 us (Expected < 1666.667 us) --> Read time : 805.395 us, Update time : 89.333 us, Write time : 1069.137 us[0m ×2 + 19.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004605800006348 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004605800006348[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004706921068307 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004706921068307[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528629213201 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528629213201[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005593751449283 + 19.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005593751449283[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005070005598400 + 19.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005070005598400[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004706404747352 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004706404747352[0m ×2 + 19.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463886466877 + 19.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463886466877[0m ×2 + 19.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005524156110045 + 19.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005524156110045[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004972032412096 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004972032412096[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004600873411368 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004600873411368[0m ×2 + 19.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006017497180335 + 19.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006017497180335[0m ×2 + 19.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251551594265 + 19.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251551594265[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004735858874221 + 19.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004735858874221[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006050439630860 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006050439630860[0m ×2 + 19.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005230921082077 + 19.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005230921082077[0m ×2 + 19.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004685978083154 + 19.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004685978083154[0m ×2 + 19.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005977523247284 + 19.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005977523247284[0m ×2 + 19.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156799491853 + 19.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156799491853[0m ×2 + 19.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004615098445588 + 19.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004615098445588[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005653584963493 + 19.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005653584963493[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004922774815316 + 19.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004922774815316[0m ×2 + 19.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006072585818774 + 19.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006072585818774[0m ×2 + 19.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005172247477165 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005172247477165[0m ×2 + 19.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006196341101935 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006196341101935[0m ×2 + 19.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005219841017035 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005219841017035[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004612766257949 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004612766257949[0m ×2 + 19.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005879244981919 + 19.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005879244981919[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006898823593549 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006898823593549[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005699576361051 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005699576361051[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006478037837446 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006478037837446[0m ×2 + 19.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005349311233581 + 19.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005349311233581[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006190736506102 + 19.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006190736506102[0m ×2 + 19.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006736192554300 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006736192554300[0m ×2 + 19.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005467945695753 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005467945695753[0m ×2 + 19.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006211375325803 + 19.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006211375325803[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006668964701355 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006668964701355[0m ×2 + 19.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005361941839331 + 19.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005361941839331[0m ×2 + 19.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004421076727860 + 19.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004421076727860[0m ×2 + 19.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005582348694887 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005582348694887[0m ×2 + 19.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006310930758701 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006310930758701[0m ×2 + 19.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006731459555838 + 19.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006731459555838[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007713095205660 + 19.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007713095205660[0m ×2 + 19.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006013982960587 + 19.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006013982960587[0m ×2 + 19.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006414024670204 + 19.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006414024670204[0m ×2 + 19.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006642261056457 + 19.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006642261056457[0m ×2 + 19.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006752895112221 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006752895112221[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006786869275306 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006786869275306[0m ×2 + 19.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006773791641767 + 19.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006773791641767[0m ×2 + 19.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006734149902457 + 19.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006734149902457[0m ×2 + 19.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007013895809519 + 19.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007013895809519[0m ×2 + 19.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006854033093333 + 19.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006854033093333[0m ×2 + 19.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006721888674734 + 19.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006721888674734[0m ×2 + 19.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007275054275200 + 20.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007275054275200[0m ×2 + 20.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003540170704460 + 20.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003540170704460[0m ×2 + 20.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007536520317857 + 20.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007536520317857[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007318344390228 + 20.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007318344390228[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009026523358477 + 20.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009026523358477[0m ×2 + 20.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008126756341625 + 20.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008126756341625[0m ×2 + 20.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769408595687 + 20.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769408595687[0m ×2 + 20.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456365349851 + 20.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456365349851[0m ×2 + 20.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008022957739586 + 20.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008022957739586[0m ×2 + 20.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010171344713530 + 20.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010171344713530[0m ×2 + 20.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008738880288208 + 20.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008738880288208[0m ×2 + 20.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007676395012697 + 20.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007676395012697[0m ×2 + 20.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009318362191006 + 20.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009318362191006[0m ×2 + 20.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007927459197427 + 20.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007927459197427[0m ×2 + 20.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006967042939472 + 20.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006967042939472[0m ×2 + 20.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006634906734848 + 20.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006634906734848[0m ×2 + 20.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007504915319709 + 20.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007504915319709[0m ×2 + 20.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009273682500387 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009273682500387[0m ×2 + 20.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007792283979355 + 20.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007792283979355[0m ×2 + 20.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009257892191445 + 20.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009257892191445[0m ×2 + 20.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007636321610477 + 20.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007636321610477[0m ×2 + 20.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009001482915876 + 20.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009001482915876[0m ×2 + 20.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009040388736580 + 20.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009040388736580[0m ×2 + 20.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007396171101384 + 20.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007396171101384[0m ×2 + 20.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008731369942785 + 20.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008731369942785[0m ×2 + 20.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008973357730169 + 20.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008973357730169[0m ×2 + 20.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387161421282 + 20.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387161421282[0m ×2 + 20.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005896826812147 + 20.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005896826812147[0m ×2 + 20.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008138651263591 + 20.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008138651263591[0m ×2 + 20.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009437492084555 + 20.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009437492084555[0m ×2 + 20.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010089025004442 + 20.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010089025004442[0m ×2 + 20.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011555929116304 + 20.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011555929116304[0m ×2 + 20.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011209229201700 + 20.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011209229201700[0m ×2 + 20.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010780154590921 + 20.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010780154590921[0m ×2 + 20.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010344026313485 + 20.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010344026313485[0m ×2 + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082616 ms (missed cycles : 3). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082616 ms (missed cycles : 3).[0m ×2 + 20.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009941465742398 + 20.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009941465742398[0m ×2 + 20.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009590298134324 + 20.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009590298134324[0m ×2 + 20.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009294332528880 + 20.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009294332528880[0m ×2 + 20.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009049539836591 + 20.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009049539836591[0m ×2 + 20.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009788607284049 + 20.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009788607284049[0m ×2 + 20.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009295526418537 + 20.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009295526418537[0m ×2 + 20.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008925435688597 + 20.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008925435688597[0m ×2 + 20.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008650023814336 + 20.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008650023814336[0m ×2 + 20.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009972983898055 + 20.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009972983898055[0m ×2 + 20.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009810554172948 + 20.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009810554172948[0m ×2 + 20.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009764902461091 + 20.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009764902461091[0m ×2 + 20.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011035856754630 + 20.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011035856754630[0m ×2 + 20.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010112526913024 + 20.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010112526913024[0m ×2 + 20.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012834065527268 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012834065527268[0m ×2 + 20.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010754832176129 + 20.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010754832176129[0m ×2 + 20.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012986616222958 + 20.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012986616222958[0m ×2 + 20.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010627743338216 + 20.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010627743338216[0m ×2 + 20.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012437424223813 + 20.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012437424223813[0m ×2 + 20.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010009664879413 + 20.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010009664879413[0m ×2 + 20.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011722591618703 + 20.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011722591618703[0m ×2 + 20.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012334953857340 + 20.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012334953857340[0m ×2 + 20.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009748123907991 + 20.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009748123907991[0m ×2 + 20.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011274529662771 + 20.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011274529662771[0m ×2 + 20.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012101864092324 + 20.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012101864092324[0m ×2 + 20.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012683357595616 + 20.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012683357595616[0m ×2 + 20.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009694886568286 + 20.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009694886568286[0m ×2 + 20.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010810628699475 + 20.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010810628699475[0m ×2 + 20.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011402755391668 + 20.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011402755391668[0m ×2 + 20.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013286070444448 + 20.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013286070444448[0m ×2 + 20.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012746165828899 + 20.60sWARNcontroller_managerOverrun might occur, Total time : 8647.732 us (Expected < 1666.667 us) --> Read time : 383.156 us, Update time : 7675.931 us, Write time : 588.645 us + 20.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012746165828899[0m ×2 + 20.61sWARNros2_control_nodeOverrun might occur, Total time : 8647.732 us (Expected < 1666.667 us) --> Read time : 383.156 us, Update time : 7675.931 us, Write time : 588.645 us[0m ×2 + 20.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007977016924866 + 20.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007977016924866[0m ×2 + 20.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006405851797274 + 20.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006405851797274[0m ×2 + 20.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008491211214189 + 20.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008491211214189[0m ×2 + 20.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009718736171775 + 20.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009718736171775[0m ×2 + 20.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005316031774066 + 20.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005316031774066[0m ×2 + 20.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007806763933773 + 20.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007806763933773[0m ×2 + 20.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006707654382283 + 20.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006707654382283[0m ×2 + 20.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012119458598668 + 20.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012119458598668[0m ×2 + 20.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011705551184633 + 20.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011705551184633[0m ×2 + 20.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011130844705621 + 20.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011130844705621[0m ×2 + 20.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010513184733352 + 20.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010513184733352[0m ×2 + 20.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009920666653496 + 20.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009920666653496[0m ×2 + 20.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014814482993259 + 20.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014814482993259[0m ×2 + 20.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012282471585779 + 20.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012282471585779[0m ×2 + 20.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010431718481965 + 20.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010431718481965[0m ×2 + 20.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015032730601524 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015032730601524[0m ×2 + 20.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011847533125367 + 20.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011847533125367[0m ×2 + 20.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009649077778114 + 20.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009649077778114[0m ×2 + 20.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002879904223617 + 20.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002879904223617[0m ×2 + 20.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004591664917701 + 20.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004591664917701[0m ×2 + 20.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005727965512115 + 20.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005727965512115[0m ×2 + 20.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006421178079949 + 20.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006421178079949[0m ×2 + 20.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006789881482412 + 20.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006789881482412[0m ×2 + 20.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006931996148345 + 20.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006931996148345[0m ×2 + 20.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010735620864819 + 20.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010735620864819[0m ×2 + 20.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009174842589200 + 20.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009174842589200[0m ×2 + 21.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.525276 ms (missed cycles : 9). + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.525276 ms (missed cycles : 9).[0m ×2 + 21.64sWARNcontroller_managerOverrun might occur, Total time : 1948.624 us (Expected < 1666.667 us) --> Read time : 212.849 us, Update time : 128.085 us, Write time : 1607.690 us + 21.64sWARNros2_control_nodeOverrun might occur, Total time : 1948.624 us (Expected < 1666.667 us) --> Read time : 212.849 us, Update time : 128.085 us, Write time : 1607.690 us[0m ×2 + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855159 ms (missed cycles : 2). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855159 ms (missed cycles : 2).[0m ×2 + 22.68sWARNcontroller_managerOverrun might occur, Total time : 2859.724 us (Expected < 1666.667 us) --> Read time : 324.554 us, Update time : 1970.385 us, Write time : 564.785 us + 22.68sWARNros2_control_nodeOverrun might occur, Total time : 2859.724 us (Expected < 1666.667 us) --> Read time : 324.554 us, Update time : 1970.385 us, Write time : 564.785 us[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044128550107910 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044128550107910[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036047771425321 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036047771425321[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028833051281292 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028833051281292[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020313468593055 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020313468593055[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021086110185613 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021086110185613[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020008432448587 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020008432448587[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022553327487898 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022553327487898[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015503820019578 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015503820019578[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014148364379057 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014148364379057[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023407005681614 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023407005681614[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016403059936290 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016403059936290[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014851211857054 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014851211857054[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012612137275936 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012612137275936[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014782878347648 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014782878347648[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013604618390393 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013604618390393[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011013557231396 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011013557231396[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013406918395081 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013406918395081[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012163221453975 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012163221453975[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008809236442090 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008809236442090[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005391495812694 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005391495812694[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004240620580538 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004240620580538[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001844889128192 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001844889128192[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000553758104013 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000553758104013[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076609717406 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076609717406[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000816369269182 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000816369269182[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000594046087622 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000594046087622[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000733209557660 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000733209557660[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001050755634829 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001050755634829[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494339750798 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494339750798[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001686129117539 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001686129117539[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002629378658102 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002629378658102[0m ×2 + 23.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149104513153 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149104513153[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394579474034 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394579474034[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003138452819799 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003138452819799[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002951005513945 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002951005513945[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002819674568600 + 23.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002819674568600[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002731920032480 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002731920032480[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003572776587476 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003572776587476[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003161932957857 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003161932957857[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891036953261 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891036953261[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724360916815 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724360916815[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003071317296451 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003071317296451[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003314002303267 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003314002303267[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003037527269201 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003037527269201[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002851650586427 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002851650586427[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002733328752725 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002733328752725[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003564981957165 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003564981957165[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144118021462 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144118021462[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002677365319418 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002677365319418[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069197610200 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069197610200[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003516212770636 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003516212770636[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003130636599717 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003130636599717[0m ×2 + 23.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002876491739138 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002876491739138[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002720047772669 + 23.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002720047772669[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003540004613328 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003540004613328[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003108646436101 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003108646436101[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002835425867143 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002835425867143[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002675710301637 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002675710301637[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002592946154643 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002592946154643[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414275221523 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414275221523[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003033968506113 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003033968506113[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002796171852326 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002796171852326[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003238631147476 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003238631147476[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002915600388062 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002915600388062[0m ×2 + 23.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002721413747250 + 23.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002721413747250[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002615846166935 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002615846166935[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003433869279635 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003433869279635[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040244045883 + 23.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029488 ms (missed cycles : 2). + 23.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040244045883[0m ×2 + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029488 ms (missed cycles : 2).[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002795331146321 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002795331146321[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003060723461150 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003060723461150[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003210889649162 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003210889649162[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266144303932 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266144303932[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390989568843 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390989568843[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003573697522085 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003573697522085[0m ×2 + 23.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284863478839 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284863478839[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003228572767706 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003228572767706[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237210730153 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237210730153[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537183546932 + 23.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537183546932[0m ×2 + 23.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077999214786 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077999214786[0m ×2 + 23.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003505003068995 + 23.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003505003068995[0m ×2 + 23.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003046338778562 + 23.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003046338778562[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002768892870919 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002768892870919[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002616599333615 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002616599333615[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412741769795 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412741769795[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007957002827 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007957002827[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002762435862673 + 23.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002762435862673[0m ×2 + 23.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003556375509350 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003556375509350[0m ×2 + 23.69sWARNcontroller_managerOverrun might occur, Total time : 6969.252 us (Expected < 1666.667 us) --> Read time : 346.825 us, Update time : 93.544 us, Write time : 6528.883 us + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003087771457326 + 23.69sWARNros2_control_nodeOverrun might occur, Total time : 6969.252 us (Expected < 1666.667 us) --> Read time : 346.825 us, Update time : 93.544 us, Write time : 6528.883 us[0m ×2 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003087771457326[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002476953355555 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002476953355555[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003979364780099 + 23.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003979364780099[0m ×2 + 23.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004751710674186 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004751710674186[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894616537854 + 23.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894616537854[0m ×2 + 23.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004660557308308 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004660557308308[0m ×2 + 23.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759896944951 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759896944951[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003168472371227 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003168472371227[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002806766312289 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002806766312289[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003580864090560 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003580864090560[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003060614723851 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003060614723851[0m ×2 + 23.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002750722124806 + 23.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002750722124806[0m ×2 + 23.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003839175599204 + 23.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003839175599204[0m ×2 + 23.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904577848638 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904577848638[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267414407213 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267414407213[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002876054624848 + 23.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002876054624848[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002655338084815 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002655338084815[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963596465627 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963596465627[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003379359670914 + 23.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003379359670914[0m ×2 + 23.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004276308114811 + 23.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004276308114811[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539561417365 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539561417365[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003062543963337 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003062543963337[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003826409376943 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003826409376943[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003221975072024 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003221975072024[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002850315677447 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002850315677447[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003616286822278 + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003616286822278[0m ×2 + 23.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002647535000429 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002647535000429[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880989220636 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880989220636[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004629209688514 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004629209688514[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003795715771827 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003795715771827[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297299076483 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297299076483[0m ×2 + 23.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003701650604815 + 23.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003701650604815[0m ×2 + 23.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004388322631453 + 23.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004388322631453[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003566752051302 + 23.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003566752051302[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003043663909227 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003043663909227[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943419773773 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943419773773[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060366196485 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060366196485[0m ×2 + 24.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003335830320302 + 24.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003335830320302[0m ×2 + 24.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003069651637032 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003069651637032[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003998292753130 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003998292753130[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003339007761284 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003339007761284[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004121586810792 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004121586810792[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003378115213538 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003378115213538[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002918989178807 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002918989178807[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003859972809898 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003859972809898[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004073480489183 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004073480489183[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003343070001629 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003343070001629[0m ×2 + 24.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002895159159291 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002895159159291[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003842592367618 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003842592367618[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055200812562 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055200812562[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003330868277093 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003330868277093[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003062991539587 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003062991539587[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969619623959 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969619623959[0m ×2 + 24.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311374165990 + 24.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311374165990[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004032920855466 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004032920855466[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004521751182272 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004521751182272[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003619953346948 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003619953346948[0m ×2 + 24.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004210864769300 + 24.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004210864769300[0m ×2 + 24.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003389677027068 + 24.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003389677027068[0m ×2 + 24.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003778639573278 + 24.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003778639573278[0m ×2 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003119941879971 + 24.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003119941879971[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003906155208363 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003906155208363[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204331363077 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204331363077[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003953553739628 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003953553739628[0m ×2 + 24.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003234572286147 + 24.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003234572286147[0m ×2 + 24.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003967620344754 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003967620344754[0m ×2 + 24.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079271899562 + 24.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079271899562[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003246856090853 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003246856090853[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003036630413096 + 24.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003036630413096[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003925137628586 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003925137628586[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003285834101392 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003285834101392[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004048582240433 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004048582240433[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470761999270 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470761999270[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004843424630734 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004843424630734[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002384320375057 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002384320375057[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002767640392107 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002767640392107[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843901253762 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843901253762[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004419617895795 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004419617895795[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004699886554756 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004699886554756[0m ×2 + 24.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808413225067 + 24.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808413225067[0m ×2 + 24.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006703225619 + 24.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006703225619[0m ×2 + 24.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003857289098860 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003857289098860[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004229204526172 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004229204526172[0m ×2 + 24.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344638643402 + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256854 ms (missed cycles : 2). + 24.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344638643402[0m ×2 + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256854 ms (missed cycles : 2).[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003926468246621 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003926468246621[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003170762194658 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003170762194658[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843975493616 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843975493616[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235480041549 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235480041549[0m ×2 + 24.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341940041608 + 24.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341940041608[0m ×2 + 24.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003428009868478 + 24.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003428009868478[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982881758304 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982881758304[0m ×2 + 24.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003208028152434 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003208028152434[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888643646280 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888643646280[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003154093652211 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003154093652211[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003835174107448 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003835174107448[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004218527712824 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004218527712824[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003350146414820 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003350146414820[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002938649092304 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002938649092304[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003745969843022 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003745969843022[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004967301505206 + 24.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004967301505206[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866371212358 + 24.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866371212358[0m ×2 + 24.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236016085817 + 24.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236016085817[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004424671382773 + 24.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004424671382773[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527962468619 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527962468619[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518201397352 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518201397352[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003976564037663 + 24.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003976564037663[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254464349062 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254464349062[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004446008348806 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004446008348806[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467851648400 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467851648400[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963198242400 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963198242400[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003101938150969 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003101938150969[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004319341783938 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004319341783938[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004501218242913 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004501218242913[0m ×2 + 24.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573721001946 + 24.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573721001946[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539824111418 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539824111418[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193812826715 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193812826715[0m ×2 + 24.76sWARNcontroller_managerOverrun might occur, Total time : 3378.196 us (Expected < 1666.667 us) --> Read time : 228.450 us, Update time : 93.954 us, Write time : 3055.792 us + 24.77sWARNros2_control_nodeOverrun might occur, Total time : 3378.196 us (Expected < 1666.667 us) --> Read time : 228.450 us, Update time : 93.954 us, Write time : 3055.792 us[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004355882978422 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004355882978422[0m ×2 + 24.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002517991028628 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002517991028628[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490635435640 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490635435640[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003058184251286 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003058184251286[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245806213485 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245806213485[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489479636870 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489479636870[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004579960808330 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004579960808330[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004588197181057 + 24.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004588197181057[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005214622932222 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005214622932222[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003925699047356 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003925699047356[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137477507344 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137477507344[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004251845037193 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004251845037193[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004312595396956 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004312595396956[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648836209495 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648836209495[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003533206243496 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003533206243496[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888835006346 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888835006346[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004511666671496 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004511666671496[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004472225483383 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004472225483383[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004439152586505 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004439152586505[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409824233363 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409824233363[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004425341722053 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004425341722053[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004392696253584 + 24.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004392696253584[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002462145697223 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002462145697223[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003385424303476 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003385424303476[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003907046641526 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003907046641526[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004188277013340 + 25.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004188277013340[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004323013760410 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004323013760410[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002491902924687 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002491902924687[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003379337457631 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003379337457631[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003883705323491 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003883705323491[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004153763050640 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004153763050640[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006055337217753 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006055337217753[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006082582861595 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006082582861595[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005404316674654 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005404316674654[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946355305071 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946355305071[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637447981652 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637447981652[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004811759020889 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004811759020889[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004539594524836 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004539594524836[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004366337805482 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004366337805482[0m ×2 + 25.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687094524951 + 25.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687094524951[0m ×2 + 25.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002138445385218 + 25.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002138445385218[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003211635855513 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003211635855513[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791353064824 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791353064824[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005840870201721 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005840870201721[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005845022821642 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005845022821642[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005234519056535 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005234519056535[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004817959473549 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004817959473549[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529680433607 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529680433607[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005104224498917 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005104224498917[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004681323438626 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004681323438626[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004403020370172 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004403020370172[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004228504365590 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004228504365590[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004799104690305 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004799104690305[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004466778511095 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004466778511095[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004257878039992 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004257878039992[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132370440277 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132370440277[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061178717189 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061178717189[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004023427879903 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004023427879903[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004756289194 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004756289194[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995808877324 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995808877324[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990876771576 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990876771576[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005018676558434 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005018676558434[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004600481569661 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004600481569661[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004323269685253 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004323269685253[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004144697432227 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004144697432227[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004696196940999 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004696196940999[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841863828860 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841863828860[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377679745688 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377679745688[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004168869004682 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004168869004682[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055308368261 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055308368261[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003986955706981 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003986955706981[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005595529595409 + 25.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005595529595409[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835524074005 + 25.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835524074005[0m ×2 + 25.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390820502479 + 25.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390820502479[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004121856791407 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004121856791407[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003962392674949 + 25.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003962392674949[0m ×2 + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314335 ms (missed cycles : 3). + 25.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314335 ms (missed cycles : 3).[0m ×2 + 25.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004944477471638 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004944477471638[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004791862340484 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004791862340484[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267286325607 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267286325607[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220139541286 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220139541286[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004833639491299 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004833639491299[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004288725496364 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004288725496364[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005578814461256 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005578814461256[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762293838723 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762293838723[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037072742344 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037072742344[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004443104168104 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004443104168104[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077349880478 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077349880478[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003859815346442 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003859815346442[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004797676672777 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004797676672777[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298606998093 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298606998093[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003988050348586 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003988050348586[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345483248325 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345483248325[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004271667688608 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004271667688608[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753070053713 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753070053713[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005776975087565 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005776975087565[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004895524859520 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004895524859520[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334632987610 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334632987610[0m ×2 + 25.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005476493853775 + 25.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005476493853775[0m ×2 + 25.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005729122438548 + 25.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005729122438548[0m ×2 + 25.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004759660451041 + 25.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004759660451041[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004181767869831 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004181767869831[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005321779744660 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005321779744660[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004462605434804 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004462605434804[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003979520293058 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003979520293058[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174476356029 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174476356029[0m ×2 + 25.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005418123438866 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005418123438866[0m ×2 + 25.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004517647871003 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004517647871003[0m ×2 + 25.80sWARNcontroller_managerOverrun might occur, Total time : 1959.895 us (Expected < 1666.667 us) --> Read time : 238.840 us, Update time : 1247.104 us, Write time : 473.951 us + 25.80sWARNros2_control_nodeOverrun might occur, Total time : 1959.895 us (Expected < 1666.667 us) --> Read time : 238.840 us, Update time : 1247.104 us, Write time : 473.951 us[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004000823089877 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004000823089877[0m ×2 + 25.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709119990274 + 25.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709119990274[0m ×2 + 25.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004679628933739 + 25.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004679628933739[0m ×2 + 25.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004518362349135 + 25.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004518362349135[0m ×2 + 25.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005244843966526 + 25.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005244843966526[0m ×2 + 25.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006084466681738 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006084466681738[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005016538693981 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005016538693981[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377747489332 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377747489332[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003972028885275 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003972028885275[0m ×2 + 25.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004958204832196 + 25.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004958204832196[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005573852245547 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005573852245547[0m ×2 + 25.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005887702498145 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005887702498145[0m ×2 + 25.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006012518663894 + 25.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006012518663894[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004818843591652 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004818843591652[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005401167694058 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005401167694058[0m ×2 + 25.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363999314825 + 25.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363999314825[0m ×2 + 25.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005096385928658 + 25.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005096385928658[0m ×2 + 25.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004177017025791 + 25.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004177017025791[0m ×2 + 25.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004986774541858 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004986774541858[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005356340576339 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005356340576339[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353344979539 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353344979539[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005130139367170 + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005130139367170[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224488066425 + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224488066425[0m ×2 + 26.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004977615169046 + 26.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004977615169046[0m ×2 + 26.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005269239081246 + 26.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005269239081246[0m ×2 + 26.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005386933786065 + 26.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005386933786065[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004342717047761 + 26.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004342717047761[0m ×2 + 26.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003917791227972 + 26.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003917791227972[0m ×2 + 26.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003545032365394 + 26.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003545032365394[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004259120119792 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004259120119792[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004945213676793 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004945213676793[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005338257621851 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005338257621851[0m ×2 + 26.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005533723916435 + 26.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005533723916435[0m ×2 + 26.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005602584812486 + 26.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005602584812486[0m ×2 + 26.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005985138185147 + 26.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005985138185147[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004665325526787 + 26.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004665325526787[0m ×2 + 26.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005060741380824 + 26.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005060741380824[0m ×2 + 26.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005745085760002 + 26.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005745085760002[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004468432297721 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004468432297721[0m ×2 + 26.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003784775757693 + 26.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003784775757693[0m ×2 + 26.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004294454286674 + 26.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004294454286674[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005588178889211 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005588178889211[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005619667345163 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005619667345163[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005492645112914 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005492645112914[0m ×2 + 26.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005419368119692 + 26.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005419368119692[0m ×2 + 26.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005318123873995 + 26.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005318123873995[0m ×2 + 26.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003901430939268 + 26.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003901430939268[0m ×2 + 26.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004285377275593 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004285377275593[0m ×2 + 26.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003643958525006 + 26.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003643958525006[0m ×2 + 26.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753842611917 + 26.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753842611917[0m ×2 + 26.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004959385893276 + 26.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004959385893276[0m ×2 + 26.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020667293019 + 26.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020667293019[0m ×2 + 26.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005032962650179 + 26.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005032962650179[0m ×2 + 26.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005000996823472 + 26.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005000996823472[0m ×2 + 26.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005619802702929 + 26.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005619802702929[0m ×2 + 26.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005361929551801 + 26.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005361929551801[0m ×2 + 26.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005145672426830 + 26.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005145672426830[0m ×2 + 26.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004999763539802 + 26.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004999763539802[0m ×2 + 26.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603631120678 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603631120678[0m ×2 + 26.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005280907997142 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005280907997142[0m ×2 + 26.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005019970502899 + 26.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005019970502899[0m ×2 + 26.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004859757581029 + 26.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004859757581029[0m ×2 + 26.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005177124733817 + 26.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005177124733817[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004952087507549 + 26.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004952087507549[0m ×2 + 26.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004780748013704 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004780748013704[0m ×2 + 26.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005357984722387 + 26.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005357984722387[0m ×2 + 26.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005054184779183 + 26.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005054184779183[0m ×2 + 26.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004805359191232 + 26.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004805359191232[0m ×2 + 26.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005222614970966 + 26.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005222614970966[0m ×2 + 26.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005128264293929 + 26.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005128264293929[0m ×2 + 26.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006146797188701 + 26.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006146797188701[0m ×2 + 26.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004883651112868 + 26.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004883651112868[0m ×2 + 26.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814278 ms (missed cycles : 2). + 26.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814278 ms (missed cycles : 2).[0m ×2 + 26.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005856972384139 + 26.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005856972384139[0m ×2 + 26.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943807392538 + 26.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943807392538[0m ×2 + 26.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006931972574255 + 26.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006931972574255[0m ×2 + 26.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007111024404452 + 26.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007111024404452[0m ×2 + 26.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006158828351401 + 26.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006158828351401[0m ×2 + 26.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005055611988274 + 26.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005055611988274[0m ×2 + 26.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004790391691443 + 26.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004790391691443[0m ×2 + 26.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005681094770961 + 26.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005681094770961[0m ×2 + 26.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005030640708447 + 26.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005030640708447[0m ×2 + 26.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004549958655774 + 26.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004549958655774[0m ×2 + 26.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265570348622 + 26.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265570348622[0m ×2 + 26.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005164090514667 + 26.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005164090514667[0m ×2 + 26.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004684129741039 + 26.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004684129741039[0m ×2 + 26.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290655417200 + 26.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290655417200[0m ×2 + 26.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005179028528497 + 26.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005179028528497[0m ×2 + 26.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176007034441 + 26.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176007034441[0m ×2 + 26.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003930903507916 + 26.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003930903507916[0m ×2 + 26.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006078498472456 + 26.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006078498472456[0m ×2 + 26.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005581262905927 + 26.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005581262905927[0m ×2 + 26.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005438904798215 + 26.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005438904798215[0m ×2 + 26.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004458945078732 + 26.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004458945078732[0m ×2 + 26.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005662845534722 + 26.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005662845534722[0m ×2 + 26.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006045402658802 + 26.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006045402658802[0m ×2 + 26.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004881855598269 + 26.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004881855598269[0m ×2 + 26.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005810247135950 + 26.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005810247135950[0m ×2 + 26.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004631330515601 + 26.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004631330515601[0m ×2 + 26.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005069929931398 + 26.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005069929931398[0m ×2 + 26.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004402755357409 + 26.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004402755357409[0m ×2 + 26.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005320165393258 + 26.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005320165393258[0m ×2 + 26.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350518427045 + 26.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350518427045[0m ×2 + 26.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005130784196345 + 26.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005130784196345[0m ×2 + 26.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398229102166 + 26.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398229102166[0m ×2 + 26.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350878111558 + 26.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350878111558[0m ×2 + 26.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529781508453 + 26.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529781508453[0m ×2 + 26.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005703217603462 + 26.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005703217603462[0m ×2 + 26.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006297438935568 + 26.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006297438935568[0m ×2 + 26.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004862958641091 + 26.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004862958641091[0m ×2 + 26.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005406826777073 + 26.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005406826777073[0m ×2 + 26.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005443600202565 + 26.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005443600202565[0m ×2 + 26.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005649376622914 + 26.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005649376622914[0m ×2 + 26.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573992198374 + 26.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573992198374[0m ×2 + 26.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004145485034253 + 26.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004145485034253[0m ×2 + 26.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004302655746173 + 26.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004302655746173[0m ×2 + 26.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005028440787530 + 26.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005028440787530[0m ×2 + 26.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005042622508297 + 26.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005042622508297[0m ×2 + 26.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005701294028600 + 26.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005701294028600[0m ×2 + 26.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432020044714 + 26.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432020044714[0m ×2 + 26.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004457135142281 + 26.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004457135142281[0m ×2 + 26.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005639400875766 + 26.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005639400875766[0m ×2 + 26.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005570257495366 + 26.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005570257495366[0m ×2 + 26.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005364053830977 + 26.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005364053830977[0m ×2 + 26.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005264128105663 + 26.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005264128105663[0m ×2 + 26.99sWARNcontroller_managerOverrun might occur, Total time : 1814.469 us (Expected < 1666.667 us) --> Read time : 236.090 us, Update time : 1011.294 us, Write time : 567.085 us + 26.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005121882877657 + 26.99sWARNros2_control_nodeOverrun might occur, Total time : 1814.469 us (Expected < 1666.667 us) --> Read time : 236.090 us, Update time : 1011.294 us, Write time : 567.085 us[0m ×2 + 26.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005121882877657[0m ×2 + 26.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005013778666225 + 26.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005013778666225[0m ×2 + 27.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004906271114729 + 27.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004906271114729[0m ×2 + 27.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004814225816196 + 27.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004814225816196[0m ×2 + 27.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004727741105713 + 27.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004727741105713[0m ×2 + 27.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004657936244847 + 27.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004657936244847[0m ×2 + 27.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590270031058 + 27.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590270031058[0m ×2 + 27.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004524224664572 + 27.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004524224664572[0m ×2 + 27.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005548606032746 + 27.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005548606032746[0m ×2 + 27.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005081144606735 + 27.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005081144606735[0m ×2 + 27.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762066559603 + 27.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762066559603[0m ×2 + 27.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528960825810 + 27.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528960825810[0m ×2 + 27.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005523581238441 + 27.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005523581238441[0m ×2 + 27.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004962805452476 + 27.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004962805452476[0m ×2 + 27.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004588783908883 + 27.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004588783908883[0m ×2 + 27.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005124233414552 + 27.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005124233414552[0m ×2 + 27.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387402068994 + 27.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387402068994[0m ×2 + 27.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005816052226873 + 27.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005816052226873[0m ×2 + 27.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006687256105270 + 27.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006687256105270[0m ×2 + 27.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005643892824977 + 27.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005643892824977[0m ×2 + 27.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004919721231431 + 27.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004919721231431[0m ×2 + 27.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005958117685409 + 27.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005958117685409[0m ×2 + 27.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006241331309570 + 27.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006241331309570[0m ×2 + 27.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005261795308124 + 27.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005261795308124[0m ×2 + 27.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006115812209242 + 27.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006115812209242[0m ×2 + 27.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005132682423382 + 27.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005132682423382[0m ×2 + 27.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005982829916989 + 27.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005982829916989[0m ×2 + 27.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005014629001148 + 27.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005014629001148[0m ×2 + 27.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005868093514931 + 27.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005868093514931[0m ×2 + 27.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006144739753799 + 27.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006144739753799[0m ×2 + 27.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005088889621046 + 27.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005088889621046[0m ×2 + 27.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005869824342544 + 27.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005869824342544[0m ×2 + 27.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004630527613181 + 27.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004630527613181[0m ×2 + 27.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004217146932072 + 27.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004217146932072[0m ×2 + 27.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005385035261058 + 27.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005385035261058[0m ×2 + 27.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006092873679887 + 27.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006092873679887[0m ×2 + 27.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006478288727327 + 27.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006478288727327[0m ×2 + 27.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006647959018834 + 27.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006647959018834[0m ×2 + 27.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006680933666420 + 27.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006680933666420[0m ×2 + 27.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003481536583873 + 27.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003481536583873[0m ×2 + 27.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004735732433386 + 27.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004735732433386[0m ×2 + 27.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006370879842411 + 27.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006370879842411[0m ×2 + 27.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009076873008482 + 27.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009076873008482[0m ×2 + 27.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008103816319211 + 27.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008103816319211[0m ×2 + 27.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007342227498648 + 27.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007342227498648[0m ×2 + 27.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006768112424591 + 27.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006768112424591[0m ×2 + 27.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006347893123042 + 27.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006347893123042[0m ×2 + 27.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007910375804648 + 27.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007910375804648[0m ×2 + 27.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007045579113948 + 27.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007045579113948[0m ×2 + 27.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007876178382804 + 27.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007876178382804[0m ×2 + 27.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006961697296370 + 27.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006961697296370[0m ×2 + 27.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008692049818100 + 27.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008692049818100[0m ×2 + 27.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007328932639944 + 27.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007328932639944[0m ×2 + 27.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008715461091438 + 27.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008715461091438[0m ×2 + 27.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007194454071989 + 27.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007194454071989[0m ×2 + 27.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008646197786536 + 27.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008646197786536[0m ×2 + 27.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007060175983434 + 27.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007060175983434[0m ×2 + 27.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108594 ms (missed cycles : 2). + 27.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108594 ms (missed cycles : 2).[0m ×2 + 27.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008251728339264 + 27.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008251728339264[0m ×2 + 27.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008925103568927 + 27.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008925103568927[0m ×2 + 27.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006452872805487 + 27.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006452872805487[0m ×2 + 27.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007683359403238 + 27.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007683359403238[0m ×2 + 27.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008384929569867 + 27.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008384929569867[0m ×2 + 27.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008715176261454 + 27.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008715176261454[0m ×2 + 27.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011122940912496 + 27.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011122940912496[0m ×2 + 27.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010244041670836 + 27.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010244041670836[0m ×2 + 27.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009500431734063 + 27.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009500431734063[0m ×2 + 27.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008893170829981 + 27.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008893170829981[0m ×2 + 27.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011161299738298 + 27.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011161299738298[0m ×2 + 27.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009766939575161 + 27.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009766939575161[0m ×2 + 27.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008749019204864 + 27.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008749019204864[0m ×2 + 27.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008024776932284 + 27.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008024776932284[0m ×2 + 27.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007518997886278 + 27.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007518997886278[0m ×2 + 27.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007168021199939 + 27.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007168021199939[0m ×2 + 27.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010967913644160 + 27.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010967913644160[0m ×2 + 27.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009195636635623 + 27.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009195636635623[0m ×2 + 27.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007955105275450 + 27.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007955105275450[0m ×2 + 27.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007115572359883 + 27.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007115572359883[0m ×2 + 27.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006565143468211 + 27.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006565143468211[0m ×2 + 27.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927809185038 + 27.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927809185038[0m ×2 + 27.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004756610636744 + 27.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004756610636744[0m ×2 + 27.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637629924215 + 27.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637629924215[0m ×2 + 27.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006915344229884 + 27.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006915344229884[0m ×2 + 27.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006686904480315 + 27.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006686904480315[0m ×2 + 27.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006427737857938 + 27.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006427737857938[0m ×2 + 27.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006168439254893 + 27.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006168439254893[0m ×2 + 27.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005925846055102 + 27.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005925846055102[0m ×2 + 27.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008924045627483 + 27.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008924045627483[0m ×2 + 27.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007495606044271 + 27.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007495606044271[0m ×2 + 27.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006461461974760 + 27.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006461461974760[0m ×2 + 27.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005737099210474 + 27.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005737099210474[0m ×2 + 27.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008521229866809 + 27.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008521229866809[0m ×2 + 27.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006906774533087 + 27.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006906774533087[0m ×2 + 27.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005801501498118 + 27.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005801501498118[0m ×2 + 27.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005076016600188 + 27.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005076016600188[0m ×2 + 27.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007658895784108 + 27.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007658895784108[0m ×2 + 27.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006162166930808 + 27.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006162166930808[0m ×2 + 27.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005166840430963 + 27.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005166840430963[0m ×2 + 27.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007611566759696 + 27.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007611566759696[0m ×2 + 27.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005995275175112 + 27.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005995275175112[0m ×2 + 27.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001227897556787 + 27.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001227897556787[0m ×2 + 27.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003528765665718 + 27.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003528765665718[0m ×2 + 28.08sWARNcontroller_managerOverrun might occur, Total time : 2187.645 us (Expected < 1666.667 us) --> Read time : 245.801 us, Update time : 1420.521 us, Write time : 521.323 us + 28.08sWARNros2_control_nodeOverrun might occur, Total time : 2187.645 us (Expected < 1666.667 us) --> Read time : 245.801 us, Update time : 1420.521 us, Write time : 521.323 us[0m ×2 + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143744 ms (missed cycles : 5). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143744 ms (missed cycles : 5).[0m ×2 + 29.09sWARNcontroller_managerOverrun might occur, Total time : 2096.311 us (Expected < 1666.667 us) --> Read time : 398.317 us, Update time : 1116.079 us, Write time : 581.915 us + 29.09sWARNros2_control_nodeOverrun might occur, Total time : 2096.311 us (Expected < 1666.667 us) --> Read time : 398.317 us, Update time : 1116.079 us, Write time : 581.915 us[0m ×2 + 29.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.889939 ms (missed cycles : 7). + 29.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.889939 ms (missed cycles : 7).[0m ×2 + 29.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.045867345954523 + 29.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.045867345954523[0m ×2 + 29.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025954757623923 + 29.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025954757623923[0m ×2 + 29.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031533142684175 + 29.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031533142684175[0m ×2 + 29.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019757478691177 + 29.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019757478691177[0m ×2 + 29.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014343369906454 + 29.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014343369906454[0m ×2 + 29.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015073545157714 + 29.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015073545157714[0m ×2 + 29.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015124329364670 + 29.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015124329364670[0m ×2 + 29.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019730411274747 + 29.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019730411274747[0m ×2 + 29.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017348829035690 + 29.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017348829035690[0m ×2 + 29.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015970629912943 + 29.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015970629912943[0m ×2 + 29.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020261716780697 + 29.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020261716780697[0m ×2 + 29.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016220362229267 + 29.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016220362229267[0m ×2 + 29.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018679765530622 + 29.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018679765530622[0m ×2 + 29.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014361067375476 + 29.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014361067375476[0m ×2 + 29.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016198303620585 + 29.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016198303620585[0m ×2 + 29.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017759319747584 + 29.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017759319747584[0m ×2 + 29.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017556581476852 + 29.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017556581476852[0m ×2 + 29.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016763610731054 + 29.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016763610731054[0m ×2 + 29.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015688739933545 + 29.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015688739933545[0m ×2 + 29.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014529026965919 + 29.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014529026965919[0m ×2 + 30.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016747968156764 + 30.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016747968156764[0m ×2 + 30.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014635184778517 + 30.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014635184778517[0m ×2 + 30.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018818312802164 + 30.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018818312802164[0m ×2 + 30.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019883632964894 + 30.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019883632964894[0m ×2 + 30.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019598678924474 + 30.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019598678924474[0m ×2 + 30.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018370959590200 + 30.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018370959590200[0m ×2 + 30.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016719015760724 + 30.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016719015760724[0m ×2 + 30.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018983226566780 + 30.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018983226566780[0m ×2 + 30.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016191020991244 + 30.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016191020991244[0m ×2 + 30.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013827016888981 + 30.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013827016888981[0m ×2 + 30.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017290096411639 + 30.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017290096411639[0m ×2 + 30.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018971367608650 + 30.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018971367608650[0m ×2 + 30.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014241433401430 + 30.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014241433401430[0m ×2 + 30.13sWARNcontroller_managerOverrun might occur, Total time : 1813.618 us (Expected < 1666.667 us) --> Read time : 451.789 us, Update time : 743.903 us, Write time : 617.926 us + 30.13sWARNros2_control_nodeOverrun might occur, Total time : 1813.618 us (Expected < 1666.667 us) --> Read time : 451.789 us, Update time : 743.903 us, Write time : 617.926 us[0m ×2 + 30.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015222913408458 + 30.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015222913408458[0m ×2 + 30.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014832174650008 + 30.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014832174650008[0m ×2 + 30.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013705455666912 + 30.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013705455666912[0m ×2 + 30.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017929242648857 + 30.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017929242648857[0m ×2 + 30.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013717877332419 + 30.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013717877332419[0m ×2 + 30.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016487978842318 + 30.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016487978842318[0m ×2 + 30.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015975709947381 + 30.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015975709947381[0m ×2 + 30.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014190452076022 + 30.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014190452076022[0m ×2 + 30.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016411444693643 + 30.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016411444693643[0m ×2 + 30.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019653954526773 + 30.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019653954526773[0m ×2 + 30.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016704730478846 + 30.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016704730478846[0m ×2 + 30.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011926356119277 + 30.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011926356119277[0m ×2 + 30.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007377757156599 + 30.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007377757156599[0m ×2 + 30.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005293301040954 + 30.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005293301040954[0m ×2 + 30.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000781383412507 + 30.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000781383412507[0m ×2 + 30.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000161615252389 + 30.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000161615252389[0m ×2 + 30.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000101017996839 + 30.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000101017996839[0m ×2 + 30.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000365122797423 + 30.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000365122797423[0m ×2 + 30.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000784292981703 + 30.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000784292981703[0m ×2 + 30.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001028584423960 + 30.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001028584423960[0m ×2 + 30.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352000594325 + 30.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352000594325[0m ×2 + 30.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001675442253023 + 30.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001675442253023[0m ×2 + 30.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001956475681888 + 30.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001956475681888[0m ×2 + 30.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002177901705131 + 30.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002177901705131[0m ×2 + 30.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002338876266167 + 30.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002338876266167[0m ×2 + 30.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002446719365117 + 30.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002446719365117[0m ×2 + 30.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002512489687635 + 30.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002512489687635[0m ×2 + 30.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002547641132511 + 30.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002547641132511[0m ×2 + 30.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002562287797189 + 30.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002562287797189[0m ×2 + 30.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002564469018636 + 30.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002564469018636[0m ×2 + 30.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394508585642 + 30.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394508585642[0m ×2 + 30.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003036250929086 + 30.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003036250929086[0m ×2 + 30.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002792108547427 + 30.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002792108547427[0m ×2 + 30.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002636215965797 + 30.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002636215965797[0m ×2 + 30.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003081231122803 + 30.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003081231122803[0m ×2 + 30.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801153781931 + 30.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801153781931[0m ×2 + 30.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002551160744369 + 30.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002551160744369[0m ×2 + 30.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955936362920 + 30.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955936362920[0m ×2 + 30.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003417755264472 + 30.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003417755264472[0m ×2 + 30.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653767468457 + 30.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653767468457[0m ×2 + 30.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003175040070191 + 30.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003175040070191[0m ×2 + 30.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002854617202208 + 30.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002854617202208[0m ×2 + 30.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002654147716845 + 30.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002654147716845[0m ×2 + 30.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002539794931843 + 30.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002539794931843[0m ×2 + 30.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003352193322450 + 30.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003352193322450[0m ×2 + 30.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952638002568 + 30.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321847 ms (missed cycles : 2). + 30.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952638002568[0m ×2 + 30.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321847 ms (missed cycles : 2).[0m ×2 + 30.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002701747299077 + 30.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002701747299077[0m ×2 + 30.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002556988555086 + 30.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002556988555086[0m ×2 + 30.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002483769322744 + 30.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002483769322744[0m ×2 + 30.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002455576628841 + 30.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002455576628841[0m ×2 + 30.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002453281761464 + 30.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002453281761464[0m ×2 + 30.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267480748438 + 30.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267480748438[0m ×2 + 30.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002932093654316 + 30.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002932093654316[0m ×2 + 30.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716013455786 + 30.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716013455786[0m ×2 + 30.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002559887528401 + 30.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002559887528401[0m ×2 + 30.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945030373712 + 30.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945030373712[0m ×2 + 30.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415885728697 + 30.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415885728697[0m ×2 + 30.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003041836703465 + 30.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003041836703465[0m ×2 + 30.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002791812086356 + 30.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002791812086356[0m ×2 + 30.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002635436727891 + 30.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002635436727891[0m ×2 + 30.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002546254447532 + 30.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002546254447532[0m ×2 + 30.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344077199641 + 30.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344077199641[0m ×2 + 30.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002964287049104 + 30.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002964287049104[0m ×2 + 30.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002722748331546 + 30.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002722748331546[0m ×2 + 30.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002580766004058 + 30.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002580766004058[0m ×2 + 30.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003377539154374 + 30.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003377539154374[0m ×2 + 30.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967711527043 + 30.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967711527043[0m ×2 + 30.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002711484287491 + 30.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002711484287491[0m ×2 + 30.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002564291027497 + 30.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002564291027497[0m ×2 + 30.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360133264504 + 30.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360133264504[0m ×2 + 30.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950248676429 + 30.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950248676429[0m ×2 + 30.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002696845087935 + 30.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002696845087935[0m ×2 + 30.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002553391100161 + 30.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002553391100161[0m ×2 + 30.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003347805524188 + 30.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003347805524188[0m ×2 + 30.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003145892452618 + 30.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003145892452618[0m ×2 + 30.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003118781661036 + 30.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003118781661036[0m ×2 + 30.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002868004197973 + 30.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002868004197973[0m ×2 + 30.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003961215172624 + 30.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003961215172624[0m ×2 + 30.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004027163802857 + 30.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004027163802857[0m ×2 + 30.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699335531556 + 30.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699335531556[0m ×2 + 30.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003067139043487 + 30.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003067139043487[0m ×2 + 30.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133274045417 + 30.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133274045417[0m ×2 + 30.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003484069216353 + 30.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003484069216353[0m ×2 + 30.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003043932003957 + 30.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003043932003957[0m ×2 + 30.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003812357084214 + 30.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003812357084214[0m ×2 + 30.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003213572231681 + 30.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003213572231681[0m ×2 + 30.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002832715005658 + 30.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002832715005658[0m ×2 + 30.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003603653893181 + 30.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003603653893181[0m ×2 + 31.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003059415662646 + 31.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003059415662646[0m ×2 + 31.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002726809067013 + 31.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002726809067013[0m ×2 + 31.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002541765632037 + 31.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002541765632037[0m ×2 + 31.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003317303563387 + 31.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003317303563387[0m ×2 + 31.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002903792783639 + 31.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002903792783639[0m ×2 + 31.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002530274639473 + 31.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002530274639473[0m ×2 + 31.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841041309330 + 31.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841041309330[0m ×2 + 31.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004541923185600 + 31.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004541923185600[0m ×2 + 31.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003685570798046 + 31.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003685570798046[0m ×2 + 31.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003118239862367 + 31.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003118239862367[0m ×2 + 31.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002766017766325 + 31.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002766017766325[0m ×2 + 31.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526370038921 + 31.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526370038921[0m ×2 + 31.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003010764787966 + 31.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003010764787966[0m ×2 + 31.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699379148385 + 31.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699379148385[0m ×2 + 31.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759291933200 + 31.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759291933200[0m ×2 + 31.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823436969788 + 31.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823436969788[0m ×2 + 31.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003190745677714 + 31.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003190745677714[0m ×2 + 31.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002800983950503 + 31.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002800983950503[0m ×2 + 31.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002580217535060 + 31.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002580217535060[0m ×2 + 31.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003341971843395 + 31.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003341971843395[0m ×2 + 31.19sWARNcontroller_managerOverrun might occur, Total time : 4095.477 us (Expected < 1666.667 us) --> Read time : 226.030 us, Update time : 3155.686 us, Write time : 713.761 us + 31.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002913723032733 + 31.19sWARNros2_control_nodeOverrun might occur, Total time : 4095.477 us (Expected < 1666.667 us) --> Read time : 226.030 us, Update time : 3155.686 us, Write time : 713.761 us[0m ×2 + 31.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002913723032733[0m ×2 + 31.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967261045379 + 31.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967261045379[0m ×2 + 31.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963031860157 + 31.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963031860157[0m ×2 + 31.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318931349043 + 31.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318931349043[0m ×2 + 31.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063972337004 + 31.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063972337004[0m ×2 + 31.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345170335893 + 31.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345170335893[0m ×2 + 31.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891656939394 + 31.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891656939394[0m ×2 + 31.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837079203998 + 31.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837079203998[0m ×2 + 31.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003900213801163 + 31.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003900213801163[0m ×2 + 31.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003219694546312 + 31.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003219694546312[0m ×2 + 31.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002998367013309 + 31.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002998367013309[0m ×2 + 31.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003932267598872 + 31.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003932267598872[0m ×2 + 31.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003277138241343 + 31.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003277138241343[0m ×2 + 31.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055364087630 + 31.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055364087630[0m ×2 + 31.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003313133436920 + 31.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003313133436920[0m ×2 + 31.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002854120283418 + 31.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002854120283418[0m ×2 + 31.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003790609738470 + 31.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003790609738470[0m ×2 + 31.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003148202948190 + 31.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003148202948190[0m ×2 + 31.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003545382323785 + 31.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003545382323785[0m ×2 + 31.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002994069290337 + 31.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002994069290337[0m ×2 + 31.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863177340248 + 31.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863177340248[0m ×2 + 31.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003181927868705 + 31.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003181927868705[0m ×2 + 31.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002771316336680 + 31.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002771316336680[0m ×2 + 31.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738793982637 + 31.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738793982637[0m ×2 + 31.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003119074402040 + 31.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003119074402040[0m ×2 + 31.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003847745906311 + 31.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003847745906311[0m ×2 + 31.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003184830692722 + 31.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003184830692722[0m ×2 + 31.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984893256252 + 31.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984893256252[0m ×2 + 31.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003279328806083 + 31.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003279328806083[0m ×2 + 31.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004000788768047 + 31.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004000788768047[0m ×2 + 31.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003269240218872 + 31.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003269240218872[0m ×2 + 31.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990605075558 + 31.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990605075558[0m ×2 + 31.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003241343042913 + 31.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003241343042913[0m ×2 + 31.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003630292716728 + 31.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003630292716728[0m ×2 + 31.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018295676468 + 31.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018295676468[0m ×2 + 31.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833120842256 + 31.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833120842256[0m ×2 + 31.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003145499092088 + 31.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003145499092088[0m ×2 + 31.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003899472873204 + 31.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003899472873204[0m ×2 + 31.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004011302110387 + 31.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004011302110387[0m ×2 + 31.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003249967530739 + 31.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003249967530739[0m ×2 + 31.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003949031093990 + 31.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003949031093990[0m ×2 + 31.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003205018556185 + 31.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003205018556185[0m ×2 + 31.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002466457465416 + 31.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002466457465416[0m ×2 + 31.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003654686534703 + 31.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003654686534703[0m ×2 + 31.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004302306109450 + 31.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004302306109450[0m ×2 + 31.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004995671439742 + 31.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004995671439742[0m ×2 + 31.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836142 ms (missed cycles : 2). + 31.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836142 ms (missed cycles : 2).[0m ×2 + 31.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003931719128795 + 31.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003931719128795[0m ×2 + 31.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350645977797 + 31.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350645977797[0m ×2 + 31.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452319915588 + 31.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452319915588[0m ×2 + 31.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020861966072 + 31.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020861966072[0m ×2 + 31.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222711890866 + 31.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222711890866[0m ×2 + 31.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003210013160726 + 31.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003210013160726[0m ×2 + 31.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003906674336171 + 31.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003906674336171[0m ×2 + 31.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278115263272 + 31.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278115263272[0m ×2 + 31.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421152942011 + 31.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421152942011[0m ×2 + 31.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004015153124681 + 31.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004015153124681[0m ×2 + 31.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003239034353954 + 31.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003239034353954[0m ×2 + 31.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896862935978 + 31.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896862935978[0m ×2 + 31.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003119657885937 + 31.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003119657885937[0m ×2 + 31.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002477636272120 + 31.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002477636272120[0m ×2 + 31.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003624580468093 + 31.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003624580468093[0m ×2 + 31.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004303298039748 + 31.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004303298039748[0m ×2 + 31.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004647619827271 + 31.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004647619827271[0m ×2 + 31.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004778522979815 + 31.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004778522979815[0m ×2 + 31.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003408922770176 + 31.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003408922770176[0m ×2 + 31.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975709074896 + 31.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975709074896[0m ×2 + 31.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004301993795761 + 31.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004301993795761[0m ×2 + 31.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004474379772420 + 31.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004474379772420[0m ×2 + 31.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003481545006932 + 31.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003481545006932[0m ×2 + 31.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963276699804 + 31.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963276699804[0m ×2 + 31.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241791183418 + 31.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241791183418[0m ×2 + 31.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004346445127910 + 31.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004346445127910[0m ×2 + 31.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003386792974006 + 31.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003386792974006[0m ×2 + 31.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002890039814417 + 31.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002890039814417[0m ×2 + 31.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683362329774 + 31.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683362329774[0m ×2 + 31.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004901639780699 + 31.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004901639780699[0m ×2 + 31.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799224870466 + 31.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799224870466[0m ×2 + 31.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172140439183 + 31.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172140439183[0m ×2 + 31.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004364571100195 + 31.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004364571100195[0m ×2 + 31.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400432254159 + 31.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400432254159[0m ×2 + 31.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060423363288 + 31.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060423363288[0m ×2 + 31.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274873323894 + 31.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274873323894[0m ×2 + 31.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003325382915375 + 31.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003325382915375[0m ×2 + 31.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984164580899 + 31.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984164580899[0m ×2 + 32.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003048832788840 + 32.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003048832788840[0m ×2 + 32.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002826928338592 + 32.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002826928338592[0m ×2 + 32.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003651411252646 + 32.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003651411252646[0m ×2 + 32.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841639467683 + 32.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841639467683[0m ×2 + 32.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004818107392892 + 32.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004818107392892[0m ×2 + 32.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004742457278697 + 32.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004742457278697[0m ×2 + 32.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004651443924572 + 32.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004651443924572[0m ×2 + 32.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539421459636 + 32.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539421459636[0m ×2 + 32.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004181968226479 + 32.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004181968226479[0m ×2 + 32.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283418774548 + 32.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283418774548[0m ×2 + 32.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004327752190555 + 32.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004327752190555[0m ×2 + 32.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003317887601079 + 32.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003317887601079[0m ×2 + 32.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003959162924494 + 32.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003959162924494[0m ×2 + 32.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002988591835747 + 32.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002988591835747[0m ×2 + 32.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634512658855 + 32.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634512658855[0m ×2 + 32.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004797130057166 + 32.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004797130057166[0m ×2 + 32.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004697325780275 + 32.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004697325780275[0m ×2 + 32.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596148147228 + 32.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596148147228[0m ×2 + 32.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003495653456119 + 32.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003495653456119[0m ×2 + 32.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126503079920 + 32.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126503079920[0m ×2 + 32.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034130637930 + 32.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034130637930[0m ×2 + 32.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002756198518882 + 32.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002756198518882[0m ×2 + 32.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536382610669 + 32.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536382610669[0m ×2 + 32.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003979107621825 + 32.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003979107621825[0m ×2 + 32.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004214268344919 + 32.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004214268344919[0m ×2 + 32.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004322616636171 + 32.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004322616636171[0m ×2 + 32.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357124606608 + 32.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357124606608[0m ×2 + 32.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004963428066829 + 32.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004963428066829[0m ×2 + 32.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004723682070217 + 32.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004723682070217[0m ×2 + 32.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568014827853 + 32.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568014827853[0m ×2 + 32.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004461377597513 + 32.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004461377597513[0m ×2 + 32.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004384964545353 + 32.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004384964545353[0m ×2 + 32.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004563594670373 + 32.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004563594670373[0m ×2 + 32.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436210989920 + 32.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436210989920[0m ×2 + 32.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349154049140 + 32.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349154049140[0m ×2 + 32.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004291128438230 + 32.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004291128438230[0m ×2 + 32.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004468275428875 + 32.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004468275428875[0m ×2 + 32.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004358669398762 + 32.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004358669398762[0m ×2 + 32.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004286916977960 + 32.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004286916977960[0m ×2 + 32.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004462988628968 + 32.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004462988628968[0m ×2 + 32.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345604655341 + 32.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345604655341[0m ×2 + 32.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004269520315822 + 32.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004269520315822[0m ×2 + 32.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002139206281113 + 32.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002139206281113[0m ×2 + 32.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003290094829776 + 32.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003290094829776[0m ×2 + 32.42sWARNcontroller_managerOverrun might occur, Total time : 10426.629 us (Expected < 1666.667 us) --> Read time : 222.099 us, Update time : 85.224 us, Write time : 10119.306 us + 32.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880549806500 + 32.42sWARNros2_control_nodeOverrun might occur, Total time : 10426.629 us (Expected < 1666.667 us) --> Read time : 222.099 us, Update time : 85.224 us, Write time : 10119.306 us[0m ×2 + 32.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880549806500[0m ×2 + 32.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002495103565484 + 32.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002495103565484[0m ×2 + 32.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673713444222 + 32.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673713444222[0m ×2 + 32.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003472432030886 + 32.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003472432030886[0m ×2 + 32.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003910966913136 + 32.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003910966913136[0m ×2 + 32.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004130483513218 + 32.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004130483513218[0m ×2 + 32.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198402932514 + 32.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198402932514[0m ×2 + 32.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006558505830261 + 32.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006558505830261[0m ×2 + 32.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005595130658303 + 32.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005595130658303[0m ×2 + 32.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004943747990877 + 32.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004943747990877[0m ×2 + 32.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005252086254454 + 32.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005252086254454[0m ×2 + 32.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704718548935 + 32.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704718548935[0m ×2 + 32.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004359159195392 + 32.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004359159195392[0m ×2 + 32.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004154057711622 + 32.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004154057711622[0m ×2 + 32.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004722051144537 + 32.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004722051144537[0m ×2 + 32.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002047927252762 + 32.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002047927252762[0m ×2 + 32.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003069973745404 + 32.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003069973745404[0m ×2 + 32.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005334582971893 + 32.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005334582971893[0m ×2 + 32.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006466508079693 + 32.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006466508079693[0m ×2 + 32.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005537474907913 + 32.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005537474907913[0m ×2 + 32.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887886459096 + 32.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887886459096[0m ×2 + 32.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005438036187592 + 32.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005438036187592[0m ×2 + 32.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004785680563462 + 32.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004785680563462[0m ×2 + 32.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004364754789491 + 32.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004364754789491[0m ×2 + 32.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004108208192213 + 32.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004108208192213[0m ×2 + 32.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655357200269 + 32.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655357200269[0m ×2 + 32.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004289934715267 + 32.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004289934715267[0m ×2 + 32.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069400654875 + 32.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069400654875[0m ×2 + 32.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943633303769 + 32.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943633303769[0m ×2 + 32.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317581 ms (missed cycles : 3). + 32.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317581 ms (missed cycles : 3).[0m ×2 + 32.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004945873777549 + 32.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004945873777549[0m ×2 + 32.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004830560779858 + 32.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004830560779858[0m ×2 + 32.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004310470823623 + 32.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004310470823623[0m ×2 + 32.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004070860098250 + 32.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004070860098250[0m ×2 + 32.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003944416726062 + 32.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003944416726062[0m ×2 + 32.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005497058954579 + 32.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005497058954579[0m ×2 + 32.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005577065469792 + 32.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005577065469792[0m ×2 + 32.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004785253866826 + 32.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004785253866826[0m ×2 + 32.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004322026667292 + 32.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004322026667292[0m ×2 + 32.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043959463949 + 32.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043959463949[0m ×2 + 32.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004449968184075 + 32.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004449968184075[0m ×2 + 32.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004935559800853 + 32.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004935559800853[0m ×2 + 32.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394166351378 + 32.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394166351378[0m ×2 + 32.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005697606117875 + 32.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005697606117875[0m ×2 + 32.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004854954773388 + 32.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004854954773388[0m ×2 + 32.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347553412247 + 32.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347553412247[0m ×2 + 32.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036526853362 + 32.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036526853362[0m ×2 + 32.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005428450017552 + 32.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005428450017552[0m ×2 + 32.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005571051760918 + 32.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005571051760918[0m ×2 + 32.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707991270855 + 32.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707991270855[0m ×2 + 32.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004210156130064 + 32.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004210156130064[0m ×2 + 32.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003917292133425 + 32.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003917292133425[0m ×2 + 32.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005305273179635 + 32.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005305273179635[0m ×2 + 32.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005563548182181 + 32.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005563548182181[0m ×2 + 32.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004681115380698 + 32.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004681115380698[0m ×2 + 32.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170695903372 + 32.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170695903372[0m ×2 + 32.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005399578120498 + 32.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005399578120498[0m ×2 + 32.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004540953452193 + 32.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004540953452193[0m ×2 + 32.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004400669959274 + 32.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004400669959274[0m ×2 + 32.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005288934668701 + 32.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005288934668701[0m ×2 + 32.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005769563497690 + 32.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005769563497690[0m ×2 + 32.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004853107463453 + 32.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004853107463453[0m ×2 + 32.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258876162606 + 32.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258876162606[0m ×2 + 32.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005367408472957 + 33.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005367408472957[0m ×2 + 33.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005613492470485 + 33.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005613492470485[0m ×2 + 33.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637013665112 + 33.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637013665112[0m ×2 + 33.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004068665208345 + 33.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004068665208345[0m ×2 + 33.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005199153846870 + 33.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005199153846870[0m ×2 + 33.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005441174030105 + 33.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005441174030105[0m ×2 + 33.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003786110770040 + 33.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003786110770040[0m ×2 + 33.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004788808734891 + 33.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004788808734891[0m ×2 + 33.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005675900704777 + 33.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005675900704777[0m ×2 + 33.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006027468123535 + 33.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006027468123535[0m ×2 + 33.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004918460208500 + 33.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004918460208500[0m ×2 + 33.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005621475579546 + 33.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005621475579546[0m ×2 + 33.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005690633641715 + 33.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005690633641715[0m ×2 + 33.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004607494311475 + 33.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004607494311475[0m ×2 + 33.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005369495526911 + 33.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005369495526911[0m ×2 + 33.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004382750809716 + 33.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004382750809716[0m ×2 + 33.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005208643979489 + 33.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005208643979489[0m ×2 + 33.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004328329249025 + 33.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004328329249025[0m ×2 + 33.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004100447828649 + 33.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004100447828649[0m ×2 + 33.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004843950540905 + 33.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004843950540905[0m ×2 + 33.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005370966965081 + 33.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005370966965081[0m ×2 + 33.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005777256598364 + 33.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005777256598364[0m ×2 + 33.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004635461653685 + 33.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004635461653685[0m ×2 + 33.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005434608052857 + 33.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005434608052857[0m ×2 + 33.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436811800490 + 33.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436811800490[0m ×2 + 33.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046514978605 + 33.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046514978605[0m ×2 + 33.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003212818541279 + 33.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003212818541279[0m ×2 + 33.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004319428135580 + 33.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004319428135580[0m ×2 + 33.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005173466930738 + 33.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005173466930738[0m ×2 + 33.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005545209361573 + 33.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005545209361573[0m ×2 + 33.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006935542361133 + 33.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006935542361133[0m ×2 + 33.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005394178724294 + 33.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005394178724294[0m ×2 + 33.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004227045074764 + 33.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004227045074764[0m ×2 + 33.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003652871954254 + 33.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003652871954254[0m ×2 + 33.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504494607063 + 33.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504494607063[0m ×2 + 33.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005059999126350 + 33.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005059999126350[0m ×2 + 33.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005352731582190 + 33.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005352731582190[0m ×2 + 33.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005503342940936 + 33.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005503342940936[0m ×2 + 33.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006211621109717 + 33.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006211621109717[0m ×2 + 33.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004817941272856 + 33.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004817941272856[0m ×2 + 33.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005151452553007 + 33.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005151452553007[0m ×2 + 33.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005223363014706 + 33.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005223363014706[0m ×2 + 33.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005312513131514 + 33.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005312513131514[0m ×2 + 33.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315246088498 + 33.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315246088498[0m ×2 + 33.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005313478906408 + 33.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005313478906408[0m ×2 + 33.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005420225580201 + 33.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005420225580201[0m ×2 + 33.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005354387178395 + 33.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005354387178395[0m ×2 + 33.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005291915214175 + 33.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005291915214175[0m ×2 + 33.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005237100415991 + 33.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005237100415991[0m ×2 + 33.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005187851840882 + 33.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005187851840882[0m ×2 + 33.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005243745358730 + 33.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005243745358730[0m ×2 + 33.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005180459078479 + 33.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005180459078479[0m ×2 + 33.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005123432194983 + 33.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005123432194983[0m ×2 + 33.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006037117318874 + 33.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006037117318874[0m ×2 + 33.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005059364904012 + 33.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005059364904012[0m ×2 + 33.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005187414076035 + 33.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005187414076035[0m ×2 + 33.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005790020635252 + 33.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005790020635252[0m ×2 + 33.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005146319015205 + 33.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005146319015205[0m ×2 + 33.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005222571230398 + 33.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005222571230398[0m ×2 + 33.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005540762478567 + 33.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005540762478567[0m ×2 + 33.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005207056549488 + 33.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005207056549488[0m ×2 + 33.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005057291201774 + 33.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005057291201774[0m ×2 + 33.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900668285369 + 33.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900668285369[0m ×2 + 33.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005499473509957 + 33.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005499473509957[0m ×2 + 33.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005209503678322 + 33.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005209503678322[0m ×2 + 33.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005859908176834 + 33.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005859908176834[0m ×2 + 33.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004789414395884 + 33.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004789414395884[0m ×2 + 33.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005473352537345 + 33.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005473352537345[0m ×2 + 33.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005400861543486 + 33.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005400861543486[0m ×2 + 33.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004962878325513 + 33.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004962878325513[0m ×2 + 33.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004857348918272 + 33.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004857348918272[0m ×2 + 33.69sWARNcontroller_managerOverrun might occur, Total time : 1823.389 us (Expected < 1666.667 us) --> Read time : 751.723 us, Update time : 95.964 us, Write time : 975.702 us + 33.69sWARNros2_control_nodeOverrun might occur, Total time : 1823.389 us (Expected < 1666.667 us) --> Read time : 751.723 us, Update time : 95.964 us, Write time : 975.702 us[0m ×2 + 33.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005422645257456 + 33.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005422645257456[0m ×2 + 33.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315010955831 + 33.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315010955831[0m ×2 + 33.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004692328186545 + 33.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004692328186545[0m ×2 + 33.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020635 ms (missed cycles : 2). + 33.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020635 ms (missed cycles : 2).[0m ×2 + 33.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006707840277084 + 33.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006707840277084[0m ×2 + 33.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003795543567925 + 33.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003795543567925[0m ×2 + 33.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004821615644669 + 33.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004821615644669[0m ×2 + 33.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005672591663502 + 33.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005672591663502[0m ×2 + 33.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004557939489505 + 33.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004557939489505[0m ×2 + 33.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006652407053824 + 33.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006652407053824[0m ×2 + 33.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004927939684543 + 33.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004927939684543[0m ×2 + 33.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005268672583835 + 33.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005268672583835[0m ×2 + 33.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005096115274089 + 33.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005096115274089[0m ×2 + 33.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004478660583655 + 33.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004478660583655[0m ×2 + 33.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006084138994633 + 33.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006084138994633[0m ×2 + 33.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006118991018936 + 33.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006118991018936[0m ×2 + 33.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004916415363520 + 33.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004916415363520[0m ×2 + 33.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687615500050 + 33.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687615500050[0m ×2 + 33.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005552959260851 + 33.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005552959260851[0m ×2 + 33.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004911755399732 + 33.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004911755399732[0m ×2 + 33.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004441981196184 + 33.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004441981196184[0m ×2 + 33.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005758736042563 + 33.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005758736042563[0m ×2 + 33.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005881927371573 + 33.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005881927371573[0m ×2 + 33.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004868899703611 + 33.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004868899703611[0m ×2 + 33.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005147735446905 + 33.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005147735446905[0m ×2 + 33.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003357902132225 + 33.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003357902132225[0m ×2 + 33.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007093989669890 + 33.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007093989669890[0m ×2 + 33.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007244836617655 + 33.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007244836617655[0m ×2 + 33.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395369393827 + 33.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395369393827[0m ×2 + 33.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008006130365051 + 33.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008006130365051[0m ×2 + 33.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108166665726 + 33.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108166665726[0m ×2 + 33.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003509108604618 + 33.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003509108604618[0m ×2 + 34.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008722510333175 + 34.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008722510333175[0m ×2 + 34.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005448024659761 + 34.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005448024659761[0m ×2 + 34.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005527519241625 + 34.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005527519241625[0m ×2 + 34.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004192599697553 + 34.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004192599697553[0m ×2 + 34.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005654827802821 + 34.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005654827802821[0m ×2 + 34.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004779606224899 + 34.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004779606224899[0m ×2 + 34.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004839617040169 + 34.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004839617040169[0m ×2 + 34.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005268750945578 + 34.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005268750945578[0m ×2 + 34.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004671838975358 + 34.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004671838975358[0m ×2 + 34.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007013196718248 + 34.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007013196718248[0m ×2 + 34.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002370666121289 + 34.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002370666121289[0m ×2 + 34.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007056765315258 + 34.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007056765315258[0m ×2 + 34.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004411093158741 + 34.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004411093158741[0m ×2 + 34.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365269330524 + 34.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365269330524[0m ×2 + 34.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005943117382476 + 34.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005943117382476[0m ×2 + 34.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929018988085 + 34.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929018988085[0m ×2 + 34.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007011389348345 + 34.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007011389348345[0m ×2 + 34.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313296685659 + 34.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313296685659[0m ×2 + 34.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004686213225901 + 34.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004686213225901[0m ×2 + 34.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006928484682702 + 34.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006928484682702[0m ×2 + 34.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004209833742091 + 34.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004209833742091[0m ×2 + 34.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006566514577887 + 34.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006566514577887[0m ×2 + 34.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006595976123587 + 34.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006595976123587[0m ×2 + 34.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990561655094 + 34.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990561655094[0m ×2 + 34.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006701291596841 + 34.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006701291596841[0m ×2 + 34.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006752088936251 + 34.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006752088936251[0m ×2 + 34.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085597386490 + 34.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085597386490[0m ×2 + 34.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009760910001997 + 34.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009760910001997[0m ×2 + 34.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005940211169556 + 34.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005940211169556[0m ×2 + 34.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003459288201570 + 34.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003459288201570[0m ×2 + 34.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002684296173721 + 34.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002684296173721[0m ×2 + 34.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343409161440 + 34.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343409161440[0m ×2 + 34.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389136616527 + 34.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389136616527[0m ×2 + 34.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004510351714254 + 34.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004510351714254[0m ×2 + 34.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390348444524 + 34.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390348444524[0m ×2 + 34.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005317669978438 + 34.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005317669978438[0m ×2 + 34.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006924533987926 + 34.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006924533987926[0m ×2 + 34.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006963841101961 + 34.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006963841101961[0m ×2 + 34.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004509348269810 + 34.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004509348269810[0m ×2 + 34.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006812023465270 + 34.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006812023465270[0m ×2 + 34.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333816404758 + 34.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333816404758[0m ×2 + 34.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007934874293650 + 34.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007934874293650[0m ×2 + 34.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004754957451927 + 34.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004754957451927[0m ×2 + 34.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002943616498985 + 34.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002943616498985[0m ×2 + 34.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008311063317009 + 34.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008311063317009[0m ×2 + 34.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008422255056824 + 34.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008422255056824[0m ×2 + 34.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005056403189018 + 34.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005056403189018[0m ×2 + 34.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003070341125061 + 34.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003070341125061[0m ×2 + 34.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007325093328579 + 34.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007325093328579[0m ×2 + 34.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004502970099699 + 34.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004502970099699[0m ×2 + 34.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003529739519063 + 34.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003529739519063[0m ×2 + 34.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006040752211654 + 34.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006040752211654[0m ×2 + 34.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003748196042327 + 34.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003748196042327[0m ×2 + 34.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006840528523860 + 34.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006840528523860[0m ×2 + 34.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200139063951 + 34.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200139063951[0m ×2 + 34.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005236570774903 + 34.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005236570774903[0m ×2 + 34.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005356848556730 + 34.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005356848556730[0m ×2 + 34.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109827207771 + 34.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109827207771[0m ×2 + 34.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005607731900671 + 34.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005607731900671[0m ×2 + 34.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003466333373090 + 34.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003466333373090[0m ×2 + 34.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010929086924474 + 34.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010929086924474[0m ×2 + 34.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010966618855820 + 34.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010966618855820[0m ×2 + 34.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006637015200748 + 34.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006637015200748[0m ×2 + 34.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003819209567339 + 34.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003819209567339[0m ×2 + 34.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164230625314 + 34.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164230625314[0m ×2 + 34.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015047450204729 + 34.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015047450204729[0m ×2 + 34.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009235848718534 + 34.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009235848718534[0m ×2 + 34.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009283090052334 + 34.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009283090052334[0m ×2 + 34.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005333118481873 + 34.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005333118481873[0m ×2 + 34.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002833790920974 + 34.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002833790920974[0m ×2 + 34.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001377055188470 + 34.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001377055188470[0m ×2 + 34.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000808708784323 + 34.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000808708784323[0m ×2 + 34.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001595384648337 + 34.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001595384648337[0m ×2 + 34.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010633215491929 + 34.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010633215491929[0m ×2 + 34.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006647948891284 + 34.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006647948891284[0m ×2 + 34.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006673212624492 + 34.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006673212624492[0m ×2 + 34.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958186286612 + 34.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958186286612[0m ×2 + 34.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002402710535375 + 34.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002402710535375[0m ×2 + 34.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002719612231302 + 34.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002719612231302[0m ×2 + 34.71sWARNcontroller_managerOverrun might occur, Total time : 1716.904 us (Expected < 1666.667 us) --> Read time : 228.230 us, Update time : 71.953 us, Write time : 1416.721 us + 34.71sWARNros2_control_nodeOverrun might occur, Total time : 1716.904 us (Expected < 1666.667 us) --> Read time : 228.230 us, Update time : 71.953 us, Write time : 1416.721 us[0m ×2 + 34.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207571 ms (missed cycles : 2). + 34.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207571 ms (missed cycles : 2).[0m ×2 + 34.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004028734090675 + 34.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004028734090675[0m ×2 + 34.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001350549263485 + 34.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001350549263485[0m ×2 + 34.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017521963380258 + 34.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017521963380258[0m ×2 + 34.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010570782630105 + 34.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010570782630105[0m ×2 + 34.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005883675155866 + 34.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005883675155866[0m ×2 + 34.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002923914892427 + 34.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002923914892427[0m ×2 + 34.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002986145362218 + 34.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002986145362218[0m ×2 + 34.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000300098486148 + 34.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000300098486148[0m ×2 + 34.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000182560138746 + 34.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000182560138746[0m ×2 + 34.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029022373635 + 34.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029022373635[0m ×2 + 34.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003256706401423 + 34.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003256706401423[0m ×2 + 34.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002351110931543 + 34.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002351110931543[0m ×2 + 34.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006467418547057 + 34.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006467418547057[0m ×2 + 34.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275300103235 + 34.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275300103235[0m ×2 + 34.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002906824123334 + 34.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002906824123334[0m ×2 + 34.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011222947036513 + 34.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011222947036513[0m ×2 + 34.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006810529442750 + 34.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006810529442750[0m ×2 + 34.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872350658717 + 34.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872350658717[0m ×2 + 34.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002040349539522 + 34.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002040349539522[0m ×2 + 34.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000999014276344 + 34.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000999014276344[0m ×2 + 34.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000494532133274 + 34.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000494532133274[0m ×2 + 34.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000963513539190 + 34.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000963513539190[0m ×2 + 34.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518876915067 + 34.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518876915067[0m ×2 + 34.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002280043499565 + 34.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002280043499565[0m ×2 + 34.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568695134917 + 34.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568695134917[0m ×2 + 34.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752286689562 + 34.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752286689562[0m ×2 + 34.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004214573172261 + 34.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004214573172261[0m ×2 + 35.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001566751964917 + 35.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001566751964917[0m ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990818 ms (missed cycles : 2). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990818 ms (missed cycles : 2).[0m ×2 + 35.90sWARNcontroller_managerOverrun might occur, Total time : 2400.154 us (Expected < 1666.667 us) --> Read time : 1797.348 us, Update time : 97.054 us, Write time : 505.752 us + 35.90sWARNros2_control_nodeOverrun might occur, Total time : 2400.154 us (Expected < 1666.667 us) --> Read time : 1797.348 us, Update time : 97.054 us, Write time : 505.752 us[0m ×2 + 36.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.658286 ms (missed cycles : 8). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.658286 ms (missed cycles : 8).[0m ×2 + 36.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014357054886906 + 36.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014357054886906[0m ×2 + 36.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022581428381437 + 36.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022581428381437[0m ×2 + 36.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020419829819165 + 36.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020419829819165[0m ×2 + 36.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022504948616309 + 36.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022504948616309[0m ×2 + 36.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016277754093538 + 36.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016277754093538[0m ×2 + 37.01sWARNcontroller_managerOverrun might occur, Total time : 5355.022 us (Expected < 1666.667 us) --> Read time : 209.119 us, Update time : 4532.546 us, Write time : 613.357 us + 37.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011932131284761 + 37.01sWARNros2_control_nodeOverrun might occur, Total time : 5355.022 us (Expected < 1666.667 us) --> Read time : 209.119 us, Update time : 4532.546 us, Write time : 613.357 us[0m ×2 + 37.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011932131284761[0m ×2 + 37.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012167417827882 + 37.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012167417827882[0m ×2 + 37.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013615387752613 + 37.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013615387752613[0m ×2 + 37.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013764308519672 + 37.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013764308519672[0m ×2 + 37.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015547854230140 + 37.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015547854230140[0m ×2 + 37.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010967448630641 + 37.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010967448630641[0m ×2 + 37.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010672754847522 + 37.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010672754847522[0m ×2 + 37.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010350681674873 + 37.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010350681674873[0m ×2 + 37.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014780109290336 + 37.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014780109290336[0m ×2 + 37.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014758849511853 + 37.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014758849511853[0m ×2 + 37.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012477993804154 + 37.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012477993804154[0m ×2 + 37.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010832226791094 + 37.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010832226791094[0m ×2 + 37.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014002080410623 + 37.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014002080410623[0m ×2 + 37.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013923179265739 + 37.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013923179265739[0m ×2 + 37.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011373285283341 + 37.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011373285283341[0m ×2 + 37.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013676325653609 + 37.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013676325653609[0m ×2 + 37.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010856580319141 + 37.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010856580319141[0m ×2 + 37.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012174842996441 + 37.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012174842996441[0m ×2 + 37.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009754416126869 + 37.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009754416126869[0m ×2 + 37.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015073834523510 + 37.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015073834523510[0m ×2 + 37.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014866408115089 + 37.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014866408115089[0m ×2 + 37.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014295654333263 + 37.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014295654333263[0m ×2 + 37.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014892821530914 + 37.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014892821530914[0m ×2 + 37.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010746303556973 + 37.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010746303556973[0m ×2 + 37.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011133855309784 + 37.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011133855309784[0m ×2 + 37.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014669331067369 + 37.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014669331067369[0m ×2 + 37.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013221480631759 + 37.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013221480631759[0m ×2 + 37.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012033443953953 + 37.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012033443953953[0m ×2 + 37.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011891401053868 + 37.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011891401053868[0m ×2 + 37.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015615674395822 + 37.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015615674395822[0m ×2 + 37.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012821625068678 + 37.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012821625068678[0m ×2 + 37.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015599257368750 + 37.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015599257368750[0m ×2 + 37.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011529011639869 + 37.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011529011639869[0m ×2 + 37.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013728945128580 + 37.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013728945128580[0m ×2 + 37.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014623905236353 + 37.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014623905236353[0m ×2 + 37.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014682329834144 + 37.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014682329834144[0m ×2 + 37.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015330428389558 + 37.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015330428389558[0m ×2 + 37.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014610993460071 + 37.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014610993460071[0m ×2 + 37.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013722947016731 + 37.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013722947016731[0m ×2 + 37.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012801531611726 + 37.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012801531611726[0m ×2 + 37.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011924926617834 + 37.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011924926617834[0m ×2 + 37.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011130028150584 + 37.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011130028150584[0m ×2 + 37.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015412893542102 + 37.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015412893542102[0m ×2 + 37.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012665688537854 + 37.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012665688537854[0m ×2 + 37.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015112708663071 + 37.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015112708663071[0m ×2 + 37.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011820730307974 + 37.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011820730307974[0m ×2 + 37.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013522062864306 + 37.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013522062864306[0m ×2 + 37.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014819676076900 + 37.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014819676076900[0m ×2 + 37.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014758193061325 + 37.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014758193061325[0m ×2 + 37.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014149929451940 + 37.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014149929451940[0m ×2 + 37.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013266614797010 + 37.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013266614797010[0m ×2 + 37.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012285052473582 + 37.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012285052473582[0m ×2 + 37.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014124822123691 + 37.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014124822123691[0m ×2 + 37.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012336064708291 + 37.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012336064708291[0m ×2 + 37.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010877360744088 + 37.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010877360744088[0m ×2 + 37.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016448422961197 + 37.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016448422961197[0m ×2 + 37.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023703781286732 + 37.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023703781286732[0m ×2 + 37.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014604265943213 + 37.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014604265943213[0m ×2 + 37.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015693453829739 + 37.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015693453829739[0m ×2 + 37.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013908552107381 + 37.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013908552107381[0m ×2 + 37.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012162156967440 + 37.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012162156967440[0m ×2 + 37.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013824724623220 + 37.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013824724623220[0m ×2 + 37.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011471762623209 + 37.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011471762623209[0m ×2 + 37.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013801900971523 + 37.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013801900971523[0m ×2 + 37.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014040520269705 + 37.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014040520269705[0m ×2 + 37.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013099510587889 + 37.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013099510587889[0m ×2 + 37.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011595064011254 + 37.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011595064011254[0m ×2 + 37.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014328891115591 + 37.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014328891115591[0m ×2 + 37.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014009355023757 + 37.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014009355023757[0m ×2 + 37.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014305143095209 + 37.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014305143095209[0m ×2 + 37.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012305144410160 + 37.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012305144410160[0m ×2 + 37.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009820023424574 + 37.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009820023424574[0m ×2 + 37.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012012482581279 + 37.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012012482581279[0m ×2 + 37.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129930255390 + 37.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129930255390[0m ×2 + 37.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963449997326 + 37.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963449997326[0m ×2 + 37.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003549667455239 + 37.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003549667455239[0m ×2 + 37.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003389252571371 + 37.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003389252571371[0m ×2 + 37.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002948920938089 + 37.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002948920938089[0m ×2 + 37.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002481646169045 + 37.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002481646169045[0m ×2 + 37.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003368103902580 + 37.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003368103902580[0m ×2 + 37.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000509161475766 + 37.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000509161475766[0m ×2 + 37.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001098520718818 + 37.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001098520718818[0m ×2 + 37.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525894113761 + 37.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525894113761[0m ×2 + 37.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002314078018076 + 37.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002314078018076[0m ×2 + 37.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002284016937497 + 37.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002284016937497[0m ×2 + 37.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002258987505190 + 37.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002258987505190[0m ×2 + 37.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002241542753977 + 37.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002241542753977[0m ×2 + 37.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002231348978526 + 37.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002231348978526[0m ×2 + 37.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002663233545898 + 37.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002663233545898[0m ×2 + 37.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002476461874762 + 37.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002476461874762[0m ×2 + 37.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002351622721268 + 37.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002351622721268[0m ×2 + 37.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002273927396750 + 37.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002273927396750[0m ×2 + 37.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002509474227590 + 37.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002509474227590[0m ×2 + 37.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847640 ms (missed cycles : 2). + 37.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847640 ms (missed cycles : 2).[0m ×2 + 37.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002715636122733 + 37.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002715636122733[0m ×2 + 37.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002538748441442 + 37.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002538748441442[0m ×2 + 37.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002412962837717 + 37.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002412962837717[0m ×2 + 37.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002540768601654 + 37.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002540768601654[0m ×2 + 37.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002401675453362 + 37.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002401675453362[0m ×2 + 37.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002311399920125 + 37.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002311399920125[0m ×2 + 37.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002257238356598 + 37.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002257238356598[0m ×2 + 37.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002493892018927 + 37.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002493892018927[0m ×2 + 37.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002364122308128 + 37.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002364122308128[0m ×2 + 37.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002283609590332 + 37.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002283609590332[0m ×2 + 37.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002411643912722 + 37.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002411643912722[0m ×2 + 37.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000764543033675 + 37.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000764543033675[0m ×2 + 37.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001610413569039 + 37.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001610413569039[0m ×2 + 37.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002143998835226 + 37.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002143998835226[0m ×2 + 38.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738001606697 + 38.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738001606697[0m ×2 + 38.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288433158464 + 38.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288433158464[0m ×2 + 38.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003720517543353 + 38.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003720517543353[0m ×2 + 38.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003179143268657 + 38.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003179143268657[0m ×2 + 38.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002787005646457 + 38.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002787005646457[0m ×2 + 38.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002519889365453 + 38.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002519889365453[0m ×2 + 38.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002752432558816 + 38.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002752432558816[0m ×2 + 38.06sWARNcontroller_managerOverrun might occur, Total time : 2345.331 us (Expected < 1666.667 us) --> Read time : 389.397 us, Update time : 81.673 us, Write time : 1874.261 us + 38.06sWARNros2_control_nodeOverrun might occur, Total time : 2345.331 us (Expected < 1666.667 us) --> Read time : 389.397 us, Update time : 81.673 us, Write time : 1874.261 us[0m ×2 + 38.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485185896066 + 38.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485185896066[0m ×2 + 38.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002664594057829 + 38.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002664594057829[0m ×2 + 38.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002496546075060 + 38.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002496546075060[0m ×2 + 38.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002730012982797 + 38.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002730012982797[0m ×2 + 38.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002519334830258 + 38.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002519334830258[0m ×2 + 38.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002382613403038 + 38.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002382613403038[0m ×2 + 38.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002616438551756 + 38.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002616438551756[0m ×2 + 38.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002434871149230 + 38.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002434871149230[0m ×2 + 38.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000953374832050 + 38.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000953374832050[0m ×2 + 38.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002998320357269 + 38.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002998320357269[0m ×2 + 38.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003165388329909 + 38.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003165388329909[0m ×2 + 38.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002916080573522 + 38.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002916080573522[0m ×2 + 38.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003715818031440 + 38.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003715818031440[0m ×2 + 38.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177219357691 + 38.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177219357691[0m ×2 + 38.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002795865633820 + 38.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002795865633820[0m ×2 + 38.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028988432244 + 38.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028988432244[0m ×2 + 38.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002676964661265 + 38.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002676964661265[0m ×2 + 38.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002452954987217 + 38.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002452954987217[0m ×2 + 38.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002322557344353 + 38.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002322557344353[0m ×2 + 38.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002256505391867 + 38.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002256505391867[0m ×2 + 38.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002690135106359 + 38.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002690135106359[0m ×2 + 38.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002481761332406 + 38.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002481761332406[0m ×2 + 38.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357064167681 + 38.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357064167681[0m ×2 + 38.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002290333923203 + 38.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002290333923203[0m ×2 + 38.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724512887636 + 38.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724512887636[0m ×2 + 38.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002511301714499 + 38.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002511301714499[0m ×2 + 38.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002380746635323 + 38.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002380746635323[0m ×2 + 38.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002308293761349 + 38.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002308293761349[0m ×2 + 38.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002742022524928 + 38.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002742022524928[0m ×2 + 38.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002523965457729 + 38.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002523965457729[0m ×2 + 38.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002325060907415 + 38.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002325060907415[0m ×2 + 38.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003715830325488 + 38.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003715830325488[0m ×2 + 38.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003209453016309 + 38.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003209453016309[0m ×2 + 38.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002845013360720 + 38.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002845013360720[0m ×2 + 38.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866311503327 + 38.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866311503327[0m ×2 + 38.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002924123344464 + 38.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002924123344464[0m ×2 + 38.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972331921597 + 38.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972331921597[0m ×2 + 38.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201554775896 + 38.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201554775896[0m ×2 + 38.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002875581564897 + 38.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002875581564897[0m ×2 + 38.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002646131866254 + 38.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002646131866254[0m ×2 + 38.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002493300280198 + 38.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002493300280198[0m ×2 + 38.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003278765681572 + 38.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003278765681572[0m ×2 + 38.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002853215239337 + 38.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002853215239337[0m ×2 + 38.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002575454843550 + 38.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002575454843550[0m ×2 + 38.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002999741161794 + 38.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002999741161794[0m ×2 + 38.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002652946746375 + 38.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002652946746375[0m ×2 + 38.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002440352861770 + 38.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002440352861770[0m ×2 + 38.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002322332246820 + 38.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002322332246820[0m ×2 + 38.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002692442040436 + 38.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002692442040436[0m ×2 + 38.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901290874712 + 38.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901290874712[0m ×2 + 38.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003948835717763 + 38.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003948835717763[0m ×2 + 38.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282515178141 + 38.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282515178141[0m ×2 + 38.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002831910288544 + 38.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002831910288544[0m ×2 + 38.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003250583063409 + 38.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003250583063409[0m ×2 + 38.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002789740864045 + 38.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002789740864045[0m ×2 + 38.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002504226598951 + 38.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002504226598951[0m ×2 + 38.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002343059667960 + 38.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002343059667960[0m ×2 + 38.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003121645157423 + 38.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003121645157423[0m ×2 + 38.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716017448459 + 38.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716017448459[0m ×2 + 38.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002468637419125 + 38.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002468637419125[0m ×2 + 38.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002331856813784 + 38.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002331856813784[0m ×2 + 38.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003111323985408 + 38.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003111323985408[0m ×2 + 38.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002718484489064 + 38.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002718484489064[0m ×2 + 38.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002779993587130 + 38.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002779993587130[0m ×2 + 38.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002577971749113 + 38.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002577971749113[0m ×2 + 38.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003688902232660 + 38.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003688902232660[0m ×2 + 38.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003724261416135 + 38.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003724261416135[0m ×2 + 38.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003108045494339 + 38.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003108045494339[0m ×2 + 38.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002707290492150 + 38.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002707290492150[0m ×2 + 38.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002464757752518 + 38.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002464757752518[0m ×2 + 38.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003234612332854 + 38.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003234612332854[0m ×2 + 38.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002778909165772 + 38.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002778909165772[0m ×2 + 38.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002500081147347 + 38.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002500081147347[0m ×2 + 38.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002707023197925 + 38.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002707023197925[0m ×2 + 38.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003768982941993 + 38.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003768982941993[0m ×2 + 38.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003146838568629 + 38.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003146838568629[0m ×2 + 38.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003557150976653 + 38.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003557150976653[0m ×2 + 38.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028948319859 + 38.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028948319859[0m ×2 + 38.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002688637378881 + 38.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002688637378881[0m ×2 + 38.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003697338235745 + 38.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003697338235745[0m ×2 + 38.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003761684786803 + 38.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003761684786803[0m ×2 + 38.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003102868859123 + 38.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003102868859123[0m ×2 + 38.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002684023939998 + 38.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002684023939998[0m ×2 + 38.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437523732769 + 38.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437523732769[0m ×2 + 38.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003528616607976 + 38.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003528616607976[0m ×2 + 38.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952495724042 + 38.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952495724042[0m ×2 + 38.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002594947558148 + 38.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002594947558148[0m ×2 + 38.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417406 ms (missed cycles : 3). + 38.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417406 ms (missed cycles : 3).[0m ×2 + 38.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351511210753 + 38.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351511210753[0m ×2 + 38.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002936235265245 + 38.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002936235265245[0m ×2 + 38.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002629143668115 + 38.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002629143668115[0m ×2 + 38.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003656787784887 + 38.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003656787784887[0m ×2 + 38.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003044055807991 + 38.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003044055807991[0m ×2 + 38.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003448631610740 + 38.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003448631610740[0m ×2 + 38.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002893872291942 + 38.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002893872291942[0m ×2 + 38.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002554292102677 + 38.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002554292102677[0m ×2 + 38.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003572038793903 + 38.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003572038793903[0m ×2 + 38.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003689493753911 + 38.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003689493753911[0m ×2 + 38.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034564680959 + 38.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034564680959[0m ×2 + 38.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002628561464172 + 38.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002628561464172[0m ×2 + 38.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599428080812 + 38.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599428080812[0m ×2 + 39.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003662641567402 + 39.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003662641567402[0m ×2 + 39.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003008843681435 + 39.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003008843681435[0m ×2 + 39.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002607285963108 + 39.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002607285963108[0m ×2 + 39.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003581116252349 + 39.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003581116252349[0m ×2 + 39.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959149422448 + 39.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959149422448[0m ×2 + 39.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002788775573341 + 39.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002788775573341[0m ×2 + 39.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003736657549412 + 39.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003736657549412[0m ×2 + 39.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003098170723296 + 39.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003098170723296[0m ×2 + 39.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003871732922721 + 39.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003871732922721[0m ×2 + 39.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003136060475955 + 39.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003136060475955[0m ×2 + 39.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002678147141240 + 39.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002678147141240[0m ×2 + 39.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414050864583 + 39.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414050864583[0m ×2 + 39.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002846007146213 + 39.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002846007146213[0m ×2 + 39.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003690148765506 + 39.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003690148765506[0m ×2 + 39.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003005322777512 + 39.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003005322777512[0m ×2 + 39.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002590123860749 + 39.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002590123860749[0m ×2 + 39.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003544294163002 + 39.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003544294163002[0m ×2 + 39.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003756056088187 + 39.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003756056088187[0m ×2 + 39.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055493874828 + 39.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055493874828[0m ×2 + 39.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002626807230562 + 39.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002626807230562[0m ×2 + 39.19sWARNcontroller_managerOverrun might occur, Total time : 4032.775 us (Expected < 1666.667 us) --> Read time : 347.695 us, Update time : 86.804 us, Write time : 3598.276 us + 39.20sWARNros2_control_nodeOverrun might occur, Total time : 4032.775 us (Expected < 1666.667 us) --> Read time : 347.695 us, Update time : 86.804 us, Write time : 3598.276 us[0m ×2 + 39.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003565665458153 + 39.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003565665458153[0m ×2 + 39.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972177744472 + 39.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972177744472[0m ×2 + 39.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002843974812245 + 39.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002843974812245[0m ×2 + 39.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003767372206595 + 39.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003767372206595[0m ×2 + 39.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278077871105 + 39.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278077871105[0m ×2 + 39.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003398543517462 + 39.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003398543517462[0m ×2 + 39.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980158710118 + 39.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980158710118[0m ×2 + 39.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004092236583845 + 39.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004092236583845[0m ×2 + 39.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003088387572301 + 39.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003088387572301[0m ×2 + 39.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818207628027 + 39.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818207628027[0m ×2 + 39.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003710756821554 + 39.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003710756821554[0m ×2 + 39.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213560279116 + 39.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213560279116[0m ×2 + 39.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004592520274500 + 39.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004592520274500[0m ×2 + 39.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003572696093339 + 39.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003572696093339[0m ×2 + 39.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004051548866134 + 39.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004051548866134[0m ×2 + 39.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003187968500794 + 39.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003187968500794[0m ×2 + 39.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003798372627004 + 39.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003798372627004[0m ×2 + 39.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003909042941887 + 39.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003909042941887[0m ×2 + 39.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002991903449512 + 39.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002991903449512[0m ×2 + 39.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003693614139120 + 39.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003693614139120[0m ×2 + 39.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134615579538 + 39.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134615579538[0m ×2 + 39.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003250669500482 + 39.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003250669500482[0m ×2 + 39.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003839280266366 + 39.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003839280266366[0m ×2 + 39.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055407707676 + 39.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055407707676[0m ×2 + 39.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755807182979 + 39.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755807182979[0m ×2 + 39.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002999476609028 + 39.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002999476609028[0m ×2 + 39.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003686701142833 + 39.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003686701142833[0m ×2 + 39.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003889174399977 + 39.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003889174399977[0m ×2 + 39.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003083266111403 + 39.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003083266111403[0m ×2 + 39.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003729251002699 + 39.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003729251002699[0m ×2 + 39.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002346983098875 + 39.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002346983098875[0m ×2 + 39.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003046561448989 + 39.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003046561448989[0m ×2 + 39.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003847232451162 + 39.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003847232451162[0m ×2 + 39.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275106831394 + 39.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275106831394[0m ×2 + 39.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004477156767707 + 39.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004477156767707[0m ×2 + 39.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003463098674795 + 39.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003463098674795[0m ×2 + 39.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004145932089500 + 39.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004145932089500[0m ×2 + 39.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003230934189679 + 39.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003230934189679[0m ×2 + 39.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003777792895231 + 39.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003777792895231[0m ×2 + 39.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004091330529059 + 39.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004091330529059[0m ×2 + 39.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176664824744 + 39.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176664824744[0m ×2 + 39.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003857955291512 + 39.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003857955291512[0m ×2 + 39.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002929455814567 + 39.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002929455814567[0m ×2 + 39.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003635902996471 + 39.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003635902996471[0m ×2 + 39.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004307881898822 + 39.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004307881898822[0m ×2 + 39.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003361777710615 + 39.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003361777710615[0m ×2 + 39.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868881626294 + 39.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868881626294[0m ×2 + 39.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148835432611 + 39.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148835432611[0m ×2 + 39.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343519075262 + 39.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343519075262[0m ×2 + 39.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003336014979420 + 39.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003336014979420[0m ×2 + 39.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002765513036288 + 39.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002765513036288[0m ×2 + 39.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002689433269900 + 39.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002689433269900[0m ×2 + 39.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003567207221045 + 39.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003567207221045[0m ×2 + 39.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060938632175 + 39.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060938632175[0m ×2 + 39.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315101291472 + 39.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315101291472[0m ×2 + 39.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004423572380177 + 39.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004423572380177[0m ×2 + 39.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004776469546211 + 39.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004776469546211[0m ×2 + 39.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004657226098503 + 39.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004657226098503[0m ×2 + 39.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003496375901684 + 39.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003496375901684[0m ×2 + 39.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003845407131482 + 39.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003845407131482[0m ×2 + 39.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004049532261561 + 39.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004049532261561[0m ×2 + 39.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004400416487326 + 39.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004400416487326[0m ×2 + 39.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326011774191 + 39.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326011774191[0m ×2 + 39.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003744731819972 + 39.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003744731819972[0m ×2 + 39.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990517402556 + 39.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990517402556[0m ×2 + 39.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004339568795990 + 39.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004339568795990[0m ×2 + 39.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003293716495708 + 39.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003293716495708[0m ×2 + 39.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003728424691353 + 39.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003728424691353[0m ×2 + 39.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980242359486 + 39.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980242359486[0m ×2 + 39.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004327098254183 + 39.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004327098254183[0m ×2 + 39.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003289629059775 + 39.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003289629059775[0m ×2 + 39.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002217083407045 + 39.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002217083407045[0m ×2 + 39.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003275529167359 + 39.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003275529167359[0m ×2 + 39.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866108491665 + 39.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866108491665[0m ×2 + 39.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.041741 ms (missed cycles : 10). + 39.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.041741 ms (missed cycles : 10).[0m ×2 + 39.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004176409983794 + 39.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004176409983794[0m ×2 + 39.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003091775820564 + 39.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003091775820564[0m ×2 + 39.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002268861749425 + 39.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002268861749425[0m ×2 + 39.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002909097627353 + 39.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002909097627353[0m ×2 + 39.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003679194645488 + 39.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003679194645488[0m ×2 + 39.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004089783162884 + 39.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004089783162884[0m ×2 + 39.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283894703943 + 39.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283894703943[0m ×2 + 39.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004351237731142 + 39.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004351237731142[0m ×2 + 39.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005494383258006 + 39.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005494383258006[0m ×2 + 39.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005031955993213 + 39.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005031955993213[0m ×2 + 40.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687951962173 + 40.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687951962173[0m ×2 + 40.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020612580416 + 40.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020612580416[0m ×2 + 40.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004644211466816 + 40.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004644211466816[0m ×2 + 40.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004392062763627 + 40.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004392062763627[0m ×2 + 40.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004232289521669 + 40.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004232289521669[0m ×2 + 40.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792984413395 + 40.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792984413395[0m ×2 + 40.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004831359396703 + 40.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004831359396703[0m ×2 + 40.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527129715865 + 40.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527129715865[0m ×2 + 40.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004351545944980 + 40.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004351545944980[0m ×2 + 40.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235000716533 + 40.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235000716533[0m ×2 + 40.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560569864394 + 40.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560569864394[0m ×2 + 40.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004348704234691 + 40.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004348704234691[0m ×2 + 40.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004206967552087 + 40.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004206967552087[0m ×2 + 40.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115908956870 + 40.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115908956870[0m ×2 + 40.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004438899539284 + 40.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004438899539284[0m ×2 + 40.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004251611782376 + 40.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004251611782376[0m ×2 + 40.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004131870523582 + 40.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004131870523582[0m ×2 + 40.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058360537078 + 40.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058360537078[0m ×2 + 40.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004378621007549 + 40.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004378621007549[0m ×2 + 40.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205559624794 + 40.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205559624794[0m ×2 + 40.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004095817858529 + 40.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004095817858529[0m ×2 + 40.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004699059129494 + 40.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004699059129494[0m ×2 + 40.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315946151929 + 40.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315946151929[0m ×2 + 40.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004889922030278 + 40.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004889922030278[0m ×2 + 40.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004507934576486 + 40.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004507934576486[0m ×2 + 40.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267602278390 + 40.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267602278390[0m ×2 + 40.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113558048580 + 40.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113558048580[0m ×2 + 40.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004690849572870 + 40.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004690849572870[0m ×2 + 40.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004360761960835 + 40.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004360761960835[0m ×2 + 40.27sWARNcontroller_managerOverrun might occur, Total time : 1713.404 us (Expected < 1666.667 us) --> Read time : 219.030 us, Update time : 1043.015 us, Write time : 451.359 us + 40.27sWARNros2_control_nodeOverrun might occur, Total time : 1713.404 us (Expected < 1666.667 us) --> Read time : 219.030 us, Update time : 1043.015 us, Write time : 451.359 us[0m ×2 + 40.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148387050861 + 40.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148387050861[0m ×2 + 40.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004635779517908 + 40.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004635779517908[0m ×2 + 40.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236376395131 + 40.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236376395131[0m ×2 + 40.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004075125978783 + 40.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004075125978783[0m ×2 + 40.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005119040091711 + 40.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005119040091711[0m ×2 + 40.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004615245125247 + 40.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004615245125247[0m ×2 + 40.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004743727409838 + 40.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004743727409838[0m ×2 + 40.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004272747445550 + 40.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004272747445550[0m ×2 + 40.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063633832434 + 40.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063633832434[0m ×2 + 40.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951380642966 + 40.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951380642966[0m ×2 + 40.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004978103948969 + 40.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004978103948969[0m ×2 + 40.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498552324622 + 40.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498552324622[0m ×2 + 40.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004653874629403 + 40.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004653874629403[0m ×2 + 40.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931520790243 + 40.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931520790243[0m ×2 + 40.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004375109221396 + 40.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004375109221396[0m ×2 + 40.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004571656609880 + 40.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004571656609880[0m ×2 + 40.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162093621494 + 40.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162093621494[0m ×2 + 40.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005604389457085 + 40.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005604389457085[0m ×2 + 40.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005649133115816 + 40.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005649133115816[0m ×2 + 40.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004833003143583 + 40.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004833003143583[0m ×2 + 40.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334801246369 + 40.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334801246369[0m ×2 + 40.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004027171675356 + 40.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004027171675356[0m ×2 + 40.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003844214692311 + 40.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003844214692311[0m ×2 + 40.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004829754458274 + 40.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004829754458274[0m ×2 + 40.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330433515889 + 40.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330433515889[0m ×2 + 40.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004016456737541 + 40.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004016456737541[0m ×2 + 40.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004993757828751 + 40.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004993757828751[0m ×2 + 40.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034755076394 + 40.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034755076394[0m ×2 + 40.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005159349894240 + 40.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005159349894240[0m ×2 + 40.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004635789722161 + 40.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004635789722161[0m ×2 + 40.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005815205841180 + 40.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005815205841180[0m ×2 + 40.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004848558555759 + 40.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004848558555759[0m ×2 + 40.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267568328787 + 40.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267568328787[0m ×2 + 40.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915448232498 + 40.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915448232498[0m ×2 + 40.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004859846397693 + 40.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004859846397693[0m ×2 + 40.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004276268867488 + 40.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004276268867488[0m ×2 + 40.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915347978221 + 40.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915347978221[0m ×2 + 40.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005255214657734 + 40.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005255214657734[0m ×2 + 40.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004442264763027 + 40.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004442264763027[0m ×2 + 40.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003988924831799 + 40.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003988924831799[0m ×2 + 40.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004912683911306 + 40.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004912683911306[0m ×2 + 40.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004282073616516 + 40.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004282073616516[0m ×2 + 40.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003892613879469 + 40.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003892613879469[0m ×2 + 40.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739728912906 + 40.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739728912906[0m ×2 + 40.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003824275718835 + 40.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003824275718835[0m ×2 + 40.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005255374570925 + 40.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005255374570925[0m ×2 + 40.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005941102022911 + 40.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005941102022911[0m ×2 + 40.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006416177177786 + 40.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006416177177786[0m ×2 + 40.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005231795110508 + 40.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005231795110508[0m ×2 + 40.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003781351738045 + 40.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003781351738045[0m ×2 + 40.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004778669246911 + 40.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004778669246911[0m ×2 + 40.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005726960495937 + 40.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005726960495937[0m ×2 + 40.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006058847568913 + 40.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006058847568913[0m ×2 + 40.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004912263958365 + 40.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004912263958365[0m ×2 + 40.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005589244572384 + 40.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005589244572384[0m ×2 + 40.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005627325885672 + 40.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005627325885672[0m ×2 + 40.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004539296813587 + 40.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004539296813587[0m ×2 + 40.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311165917579 + 40.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311165917579[0m ×2 + 40.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004324439890845 + 40.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004324439890845[0m ×2 + 40.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005170137090942 + 40.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005170137090942[0m ×2 + 40.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004230946845029 + 40.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004230946845029[0m ×2 + 40.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005102955630535 + 40.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005102955630535[0m ×2 + 40.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186722046924 + 40.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186722046924[0m ×2 + 40.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005007865718685 + 40.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005007865718685[0m ×2 + 40.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004182247839892 + 40.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004182247839892[0m ×2 + 40.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005065990453066 + 40.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005065990453066[0m ×2 + 40.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142052912946 + 40.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142052912946[0m ×2 + 40.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004949055098969 + 40.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004949055098969[0m ×2 + 40.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004131545806329 + 40.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004131545806329[0m ×2 + 40.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.080365 ms (missed cycles : 8). + 40.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.080365 ms (missed cycles : 8).[0m ×2 + 40.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004999822237824 + 40.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004999822237824[0m ×2 + 40.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447579044796 + 40.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447579044796[0m ×2 + 40.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004157208367452 + 40.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004157208367452[0m ×2 + 40.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900815719484 + 40.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900815719484[0m ×2 + 40.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005469719060453 + 40.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005469719060453[0m ×2 + 41.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005685362102757 + 41.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005685362102757[0m ×2 + 41.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006096654709850 + 41.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006096654709850[0m ×2 + 41.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004810372171136 + 41.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004810372171136[0m ×2 + 41.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005278831335953 + 41.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005278831335953[0m ×2 + 41.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005426224844363 + 41.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005426224844363[0m ×2 + 41.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004318283475833 + 41.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004318283475833[0m ×2 + 41.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929563446643 + 41.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929563446643[0m ×2 + 41.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005162076552157 + 41.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005162076552157[0m ×2 + 41.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005373547057012 + 41.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005373547057012[0m ×2 + 41.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235596122382 + 41.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235596122382[0m ×2 + 41.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004826962526690 + 41.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004826962526690[0m ×2 + 41.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005202992796256 + 41.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005202992796256[0m ×2 + 41.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005306971319076 + 41.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005306971319076[0m ×2 + 41.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004194192816251 + 41.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004194192816251[0m ×2 + 41.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004771423776179 + 41.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004771423776179[0m ×2 + 41.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192674886242 + 41.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192674886242[0m ×2 + 41.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003818159100738 + 41.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003818159100738[0m ×2 + 41.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003508980150096 + 41.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003508980150096[0m ×2 + 41.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004308056570339 + 41.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004308056570339[0m ×2 + 41.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004849039296880 + 41.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004849039296880[0m ×2 + 41.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006092873217781 + 41.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006092873217781[0m ×2 + 41.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005903494624286 + 41.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005903494624286[0m ×2 + 41.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005657927591235 + 41.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005657927591235[0m ×2 + 41.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005477368750742 + 41.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005477368750742[0m ×2 + 41.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005313473932385 + 41.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005313473932385[0m ×2 + 41.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005504988465946 + 41.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005504988465946[0m ×2 + 41.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004221233813359 + 41.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004221233813359[0m ×2 + 41.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004586941113749 + 41.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004586941113749[0m ×2 + 41.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005216006593559 + 41.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005216006593559[0m ×2 + 41.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005120084357763 + 41.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005120084357763[0m ×2 + 41.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005044360410324 + 41.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005044360410324[0m ×2 + 41.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004980486786435 + 41.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004980486786435[0m ×2 + 41.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005163695501199 + 41.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005163695501199[0m ×2 + 41.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005049145550594 + 41.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005049145550594[0m ×2 + 41.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004949231569626 + 41.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004949231569626[0m ×2 + 41.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052092587324 + 41.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052092587324[0m ×2 + 41.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003540171900450 + 41.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003540171900450[0m ×2 + 41.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006293100251761 + 41.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006293100251761[0m ×2 + 41.38sWARNcontroller_managerOverrun might occur, Total time : 3083.833 us (Expected < 1666.667 us) --> Read time : 204.669 us, Update time : 2234.666 us, Write time : 644.498 us + 41.38sWARNros2_control_nodeOverrun might occur, Total time : 3083.833 us (Expected < 1666.667 us) --> Read time : 204.669 us, Update time : 2234.666 us, Write time : 644.498 us[0m ×2 + 41.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005323615560372 + 41.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005323615560372[0m ×2 + 41.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003356277341163 + 41.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003356277341163[0m ×2 + 41.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002734643574567 + 41.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002734643574567[0m ×2 + 41.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003741156432435 + 41.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003741156432435[0m ×2 + 41.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005894339034854 + 41.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005894339034854[0m ×2 + 41.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005519361312164 + 41.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005519361312164[0m ×2 + 41.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006589237683321 + 41.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006589237683321[0m ×2 + 41.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005867420593218 + 41.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005867420593218[0m ×2 + 41.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005303359159162 + 41.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005303359159162[0m ×2 + 41.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004933504713466 + 41.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004933504713466[0m ×2 + 41.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005494891619091 + 41.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005494891619091[0m ×2 + 41.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005041198362770 + 41.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005041198362770[0m ×2 + 41.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004711290580492 + 41.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004711290580492[0m ×2 + 41.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515586520258 + 41.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515586520258[0m ×2 + 41.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005181076182013 + 41.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005181076182013[0m ×2 + 41.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237265482180 + 41.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237265482180[0m ×2 + 41.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005761298997016 + 41.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005761298997016[0m ×2 + 41.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004413920498133 + 41.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004413920498133[0m ×2 + 41.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004755587516436 + 41.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004755587516436[0m ×2 + 41.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006647758811822 + 41.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006647758811822[0m ×2 + 41.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004451959758041 + 41.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004451959758041[0m ×2 + 41.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004898613465416 + 41.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004898613465416[0m ×2 + 41.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004135193823670 + 41.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004135193823670[0m ×2 + 41.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005160576110227 + 41.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005160576110227[0m ×2 + 41.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004746117862514 + 41.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004746117862514[0m ×2 + 41.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334194010288 + 41.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334194010288[0m ×2 + 41.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148313584540 + 41.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148313584540[0m ×2 + 41.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005036532312904 + 41.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005036532312904[0m ×2 + 41.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603611391558 + 41.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603611391558[0m ×2 + 41.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004238908591359 + 41.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004238908591359[0m ×2 + 41.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005592994322234 + 41.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005592994322234[0m ×2 + 41.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752857677746 + 41.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752857677746[0m ×2 + 41.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005534082173069 + 41.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005534082173069[0m ×2 + 41.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004849077330443 + 41.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004849077330443[0m ×2 + 41.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345624962857 + 41.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345624962857[0m ×2 + 41.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005503900322252 + 41.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005503900322252[0m ×2 + 41.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005619396385386 + 41.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005619396385386[0m ×2 + 41.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648278035926 + 41.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648278035926[0m ×2 + 41.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004264018735224 + 41.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004264018735224[0m ×2 + 41.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005046594427424 + 41.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005046594427424[0m ×2 + 41.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004443469167182 + 41.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004443469167182[0m ×2 + 41.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562897761851 + 41.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562897761851[0m ×2 + 41.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004400669221601 + 41.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004400669221601[0m ×2 + 41.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007348011556737 + 41.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007348011556737[0m ×2 + 41.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001438361228630 + 41.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001438361228630[0m ×2 + 41.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003948449987296 + 41.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003948449987296[0m ×2 + 41.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006385740696415 + 41.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006385740696415[0m ×2 + 41.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003554620580614 + 41.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003554620580614[0m ×2 + 41.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006347391793472 + 41.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006347391793472[0m ×2 + 41.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003256047992395 + 41.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003256047992395[0m ×2 + 41.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004425024534694 + 41.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004425024534694[0m ×2 + 41.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137881552536 + 41.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137881552536[0m ×2 + 41.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004738020438987 + 41.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004738020438987[0m ×2 + 41.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123239130130 + 41.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123239130130[0m ×2 + 41.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004872662648349 + 41.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004872662648349[0m ×2 + 41.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084313807759 + 41.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084313807759[0m ×2 + 41.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004339068311546 + 41.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004339068311546[0m ×2 + 41.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004845551493439 + 41.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004845551493439[0m ×2 + 41.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005085246731386 + 41.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005085246731386[0m ×2 + 41.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005301580925232 + 41.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005301580925232[0m ×2 + 41.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004164480856652 + 41.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004164480856652[0m ×2 + 41.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004826672055622 + 41.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004826672055622[0m ×2 + 41.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005223896217295 + 41.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005223896217295[0m ×2 + 41.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773646952372 + 41.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720309 ms (missed cycles : 2). + 41.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773646952372[0m ×2 + 41.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720309 ms (missed cycles : 2).[0m ×2 + 41.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004303606744919 + 41.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004303606744919[0m ×2 + 41.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004800208262108 + 41.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004800208262108[0m ×2 + 41.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005012613001248 + 41.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005012613001248[0m ×2 + 41.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004757343510418 + 41.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004757343510418[0m ×2 + 42.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005379832788422 + 42.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005379832788422[0m ×2 + 42.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005464631533431 + 42.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005464631533431[0m ×2 + 42.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596541472066 + 42.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596541472066[0m ×2 + 42.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006067147054376 + 42.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006067147054376[0m ×2 + 42.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002944591193197 + 42.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002944591193197[0m ×2 + 42.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008682921011695 + 42.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008682921011695[0m ×2 + 42.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002885209511386 + 42.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002885209511386[0m ×2 + 42.44sWARNcontroller_managerOverrun might occur, Total time : 1786.907 us (Expected < 1666.667 us) --> Read time : 264.251 us, Update time : 905.209 us, Write time : 617.447 us + 42.44sWARNros2_control_nodeOverrun might occur, Total time : 1786.907 us (Expected < 1666.667 us) --> Read time : 264.251 us, Update time : 905.209 us, Write time : 617.447 us[0m ×2 + 42.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296964 ms (missed cycles : 2). + 42.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296964 ms (missed cycles : 2).[0m ×2 + 43.52sWARNcontroller_managerOverrun might occur, Total time : 1878.991 us (Expected < 1666.667 us) --> Read time : 241.410 us, Update time : 96.804 us, Write time : 1540.777 us + 43.52sWARNros2_control_nodeOverrun might occur, Total time : 1878.991 us (Expected < 1666.667 us) --> Read time : 241.410 us, Update time : 96.804 us, Write time : 1540.777 us[0m ×2 + 43.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551082582608 + 43.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551082582608[0m ×2 + 43.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000874223843649 + 43.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000874223843649[0m ×2 + 44.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001041048600090 + 44.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001041048600090[0m ×2 + 44.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001202795990540 + 44.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001202795990540[0m ×2 + 44.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001201912290513 + 44.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001201912290513[0m ×2 + 44.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001161814086868 + 44.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001161814086868[0m ×2 + 44.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001575581599402 + 44.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001575581599402[0m ×2 + 44.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293947 ms (missed cycles : 2). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293947 ms (missed cycles : 2).[0m ×2 + 44.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001794635923898 + 44.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001794635923898[0m ×2 + 44.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001842486112788 + 44.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001842486112788[0m ×2 + 44.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001311773106998 + 44.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001311773106998[0m ×2 + 44.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001093387473971 + 44.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001093387473971[0m ×2 + 44.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001258232983337 + 44.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001258232983337[0m ×2 + 44.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001049374237311 + 44.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001049374237311[0m ×2 + 44.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000918688845873 + 44.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000918688845873[0m ×2 + 44.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001084677752718 + 44.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001084677752718[0m ×2 + 44.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000941801941003 + 44.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000941801941003[0m ×2 + 44.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000859109499806 + 44.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000859109499806[0m ×2 + 44.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000951639031579 + 44.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000951639031579[0m ×2 + 44.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000915386579233 + 44.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000915386579233[0m ×2 + 44.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000894452896688 + 44.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000894452896688[0m ×2 + 44.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000884491050483 + 44.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000884491050483[0m ×2 + 44.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000882372094880 + 44.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000882372094880[0m ×2 + 44.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000885255657712 + 44.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000885255657712[0m ×2 + 44.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000891174896869 + 44.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000891174896869[0m ×2 + 44.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000898754387051 + 44.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000898754387051[0m ×2 + 44.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001216110292083 + 44.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001216110292083[0m ×2 + 44.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001095195886831 + 44.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001095195886831[0m ×2 + 44.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001015406382869 + 44.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001015406382869[0m ×2 + 44.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000966646004486 + 44.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000966646004486[0m ×2 + 44.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000940255835552 + 44.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000940255835552[0m ×2 + 44.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001261351226583 + 44.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001261351226583[0m ×2 + 44.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001120099717472 + 44.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001120099717472[0m ×2 + 44.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001029923220362 + 44.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001029923220362[0m ×2 + 44.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001204825965405 + 44.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001204825965405[0m ×2 + 44.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001081300352627 + 44.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001081300352627[0m ×2 + 44.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001006274679732 + 44.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001006274679732[0m ×2 + 44.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000965652277212 + 44.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000965652277212[0m ×2 + 44.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001142158974113 + 44.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001142158974113[0m ×2 + 44.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001053483444913 + 44.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001053483444913[0m ×2 + 44.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001002061104568 + 44.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001002061104568[0m ×2 + 44.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000926987930588 + 44.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000926987930588[0m ×2 + 44.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001522522642663 + 44.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001522522642663[0m ×2 + 44.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001357568041745 + 44.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001357568041745[0m ×2 + 44.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001236919534637 + 44.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001236919534637[0m ×2 + 44.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001252733703013 + 44.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001252733703013[0m ×2 + 44.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001283875912706 + 44.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001283875912706[0m ×2 + 44.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001738295985899 + 44.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001738295985899[0m ×2 + 44.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001474620833694 + 44.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001474620833694[0m ×2 + 44.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001294145389236 + 44.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001294145389236[0m ×2 + 44.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001477921213319 + 44.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001477921213319[0m ×2 + 44.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001288264665732 + 44.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001288264665732[0m ×2 + 44.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001168796719000 + 44.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001168796719000[0m ×2 + 44.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001353446361390 + 44.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001353446361390[0m ×2 + 44.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001210727318370 + 44.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001210727318370[0m ×2 + 44.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001125703097778 + 44.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001125703097778[0m ×2 + 44.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001080782321228 + 44.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001080782321228[0m ×2 + 44.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001424762581216 + 44.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001424762581216[0m ×2 + 44.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001269525826637 + 44.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001269525826637[0m ×2 + 44.53sWARNcontroller_managerOverrun might occur, Total time : 2016.637 us (Expected < 1666.667 us) --> Read time : 202.609 us, Update time : 719.211 us, Write time : 1094.817 us + 44.53sWARNros2_control_nodeOverrun might occur, Total time : 2016.637 us (Expected < 1666.667 us) --> Read time : 202.609 us, Update time : 719.211 us, Write time : 1094.817 us[0m ×2 + 44.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001277619343682 + 44.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001277619343682[0m ×2 + 44.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001327692647270 + 44.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001327692647270[0m ×2 + 44.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001809364553204 + 44.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001809364553204[0m ×2 + 44.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001548218479395 + 44.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001548218479395[0m ×2 + 44.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001370466909941 + 44.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001370466909941[0m ×2 + 44.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001256708071175 + 44.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001256708071175[0m ×2 + 44.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001608931731613 + 44.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001608931731613[0m ×2 + 44.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001402178424754 + 44.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001402178424754[0m ×2 + 44.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001271464130495 + 44.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001271464130495[0m ×2 + 44.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001195233562465 + 44.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001195233562465[0m ×2 + 44.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001550059417040 + 44.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001550059417040[0m ×2 + 44.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001371188048995 + 44.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001371188048995[0m ×2 + 44.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001260482095101 + 44.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001260482095101[0m ×2 + 44.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001453544223560 + 44.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001453544223560[0m ×2 + 44.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001315020845239 + 44.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001315020845239[0m ×2 + 44.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001232882974924 + 44.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001232882974924[0m ×2 + 44.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001189910535409 + 44.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001189910535409[0m ×2 + 44.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330464778148 + 44.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330464778148[0m ×2 + 44.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001861724230026 + 44.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001861724230026[0m ×2 + 44.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001967692686738 + 44.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001967692686738[0m ×2 + 44.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680218732743 + 44.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680218732743[0m ×2 + 44.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001484223691947 ×2 + 44.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001484223691947[0m ×4 + 44.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001358252945874 + 44.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001358252945874[0m ×2 + 44.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001283222559149 + 44.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001283222559149[0m ×2 + 44.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001648521335809 + 44.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001648521335809[0m ×2 + 44.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001465104782731 + 44.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001465104782731[0m ×2 + 44.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001445414072065 + 44.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001445414072065[0m ×2 + 44.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001945803780230 + 44.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001945803780230[0m ×2 + 44.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001673220261091 + 44.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001673220261091[0m ×2 + 44.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490831702513 + 44.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490831702513[0m ×2 + 44.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001861251770529 + 44.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001861251770529[0m ×2 + 44.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001600697256967 + 44.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001600697256967[0m ×2 + 44.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001459526314283 + 44.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001459526314283[0m ×2 + 44.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001956578883765 ×2 + 44.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001956578883765[0m ×4 + 44.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001678884114310 + 44.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001678884114310[0m ×2 + 44.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001497960629616 + 44.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001497960629616[0m ×2 + 44.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001387578459439 + 44.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001387578459439[0m ×2 + 44.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001916519359343 + 44.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001916519359343[0m ×2 + 44.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001658637675650 + 44.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001658637675650[0m ×2 + 44.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001492883216249 + 44.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001492883216249[0m ×2 + 44.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001505198804276 ×2 + 44.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001505198804276[0m ×4 + 44.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002034535169863 + 44.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002034535169863[0m ×2 + 44.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001762505954993 + 44.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001762505954993[0m ×2 + 44.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580544336138 + 44.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580544336138[0m ×2 + 44.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001963375348347 + 44.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001963375348347[0m ×2 + 44.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001700490702899 + 44.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001700490702899[0m ×2 + 44.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001531747088528 + 44.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001531747088528[0m ×2 + 44.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002033641105084 + 44.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002033641105084[0m ×2 + 44.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002094726086227 + 44.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002094726086227[0m ×2 + 44.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001783515869487 + 44.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001783515869487[0m ×2 + 45.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001582835371635 + 45.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001582835371635[0m ×2 + 45.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001563092667273 + 45.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001563092667273[0m ×2 + 45.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002097924287101 + 45.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002097924287101[0m ×2 + 45.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001818898598543 + 45.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001818898598543[0m ×2 + 45.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002244826708069 + 45.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002244826708069[0m ×2 + 45.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001892780919705 + 45.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001892780919705[0m ×2 + 45.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001662698063175 + 45.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001662698063175[0m ×2 + 45.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002055576037754 + 45.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002055576037754[0m ×2 + 45.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001763757357628 + 45.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001763757357628[0m ×2 + 45.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778022 ms (missed cycles : 4). + 45.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778022 ms (missed cycles : 4).[0m ×2 + 45.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580283688597 + 45.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580283688597[0m ×2 + 45.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002091919345456 + 45.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002091919345456[0m ×2 + 45.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001800085152202 + 45.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001800085152202[0m ×2 + 45.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001614249770113 + 45.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001614249770113[0m ×2 + 45.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002011113875354 + 45.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002011113875354[0m ×2 + 45.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001748926433148 + 45.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001748926433148[0m ×2 + 45.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002208928012910 + 45.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002208928012910[0m ×2 + 45.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001835153045511 + 45.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001835153045511[0m ×2 + 45.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001410376649261 + 45.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001410376649261[0m ×2 + 45.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002094219143129 + 45.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002094219143129[0m ×2 + 45.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002516216955326 + 45.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002516216955326[0m ×2 + 45.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002126880131620 + 45.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002126880131620[0m ×2 + 45.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002530237222862 + 45.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002530237222862[0m ×2 + 45.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001322753338391 + 45.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001322753338391[0m ×2 + 45.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002070008065525 + 45.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002070008065525[0m ×2 + 45.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002531354262827 + 45.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002531354262827[0m ×2 + 45.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002796074037213 + 45.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002796074037213[0m ×2 + 45.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002915428376528 + 45.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002915428376528[0m ×2 + 45.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002366765837107 + 45.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002366765837107[0m ×2 + 45.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001995400772346 + 45.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001995400772346[0m ×2 + 45.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002398039892112 + 45.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002398039892112[0m ×2 + 45.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002009924802058 + 45.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002009924802058[0m ×2 + 45.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002406243549447 + 45.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002406243549447[0m ×2 + 45.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002013928641791 ×2 + 45.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002013928641791[0m ×4 + 45.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002411406249249 + 45.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002411406249249[0m ×2 + 45.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002018905028684 + 45.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002018905028684[0m ×2 + 45.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002419359205783 + 45.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002419359205783[0m ×2 + 45.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002027171228102 + 45.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002027171228102[0m ×2 + 45.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002251606893355 + 45.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002251606893355[0m ×2 + 45.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919108779831 + 45.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919108779831[0m ×2 + 45.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002366499296883 + 45.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002366499296883[0m ×2 + 45.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002003488028053 + 45.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002003488028053[0m ×2 + 45.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001472938598949 + 45.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001472938598949[0m ×2 + 45.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186682430783 + 45.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186682430783[0m ×2 + 45.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002633819443970 + 45.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002633819443970[0m ×2 + 45.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053417826142 + 45.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053417826142[0m ×2 + 45.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002498151864822 + 45.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002498151864822[0m ×2 + 45.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002777154710228 + 45.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002777154710228[0m ×2 + 45.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002279404689177 + 45.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002279404689177[0m ×2 + 45.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002701005229952 + 45.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002701005229952[0m ×2 + 45.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002216215336543 + 45.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002216215336543[0m ×2 + 45.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002567998770143 + 45.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002567998770143[0m ×2 + 45.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002033506732460 + 45.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002033506732460[0m ×2 + 45.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002490350570448 ×2 + 45.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002490350570448[0m ×4 + 45.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002780494931479 + 45.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002780494931479[0m ×2 + 45.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002287181440397 + 45.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002287181440397[0m ×2 + 45.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002635707500818 + 45.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002635707500818[0m ×2 + 45.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002760671462060 + 45.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002760671462060[0m ×2 + 45.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002127973461294 + 45.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002127973461294[0m ×2 + 45.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002561600338443 + 45.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002561600338443[0m ×2 + 45.62sWARNcontroller_managerOverrun might occur, Total time : 1827.289 us (Expected < 1666.667 us) --> Read time : 301.413 us, Update time : 102.644 us, Write time : 1423.232 us + 45.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002836377172574 + 45.63sWARNros2_control_nodeOverrun might occur, Total time : 1827.289 us (Expected < 1666.667 us) --> Read time : 301.413 us, Update time : 102.644 us, Write time : 1423.232 us[0m ×2 + 45.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002836377172574[0m ×2 + 45.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178402416242 + 45.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178402416242[0m ×2 + 45.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002605230098376 + 45.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002605230098376[0m ×2 + 45.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002874187016256 ×2 + 45.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002874187016256[0m ×4 + 45.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357200134572 + 45.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357200134572[0m ×2 + 45.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699319093183 + 45.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699319093183[0m ×2 + 45.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002238763149198 ×2 + 45.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002238763149198[0m ×4 + 45.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002625607705040 + 45.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002625607705040[0m ×2 + 45.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002875628668879 + 45.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002875628668879[0m ×2 + 45.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348043683089 + 45.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348043683089[0m ×2 + 45.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782867988225 + 45.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782867988225[0m ×2 + 45.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002281723183873 + 45.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002281723183873[0m ×2 + 45.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002648759875129 + 45.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002648759875129[0m ×2 + 45.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002889119488286 ×2 + 45.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002889119488286[0m ×4 + 45.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002354499778897 + 45.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002354499778897[0m ×2 + 45.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002700395111749 + 45.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002700395111749[0m ×2 + 45.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937239814273 + 45.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937239814273[0m ×2 + 45.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002220220212359 + 45.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002220220212359[0m ×2 + 45.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001992735400368 + 45.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001992735400368[0m ×2 + 45.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002550313815437 + 45.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002550313815437[0m ×2 + 45.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901865148784 + 45.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901865148784[0m ×2 + 45.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109791175730 + 45.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109791175730[0m ×2 + 45.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003348439968722 + 45.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003348439968722[0m ×2 + 45.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002420722984474 + 45.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002420722984474[0m ×2 + 45.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002077689074325 + 45.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002077689074325[0m ×2 + 45.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001997629784913 + 45.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001997629784913[0m ×2 + 45.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002589182685483 + 45.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002589182685483[0m ×2 + 45.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002956491147426 + 45.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002956491147426[0m ×2 + 45.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003777353657360 + 45.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003777353657360[0m ×2 + 45.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681306834132 + 45.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681306834132[0m ×2 + 45.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881319142823 + 45.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881319142823[0m ×2 + 45.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003049835154030 + 45.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003049835154030[0m ×2 + 45.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003291007636095 + 45.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003291007636095[0m ×2 + 45.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002605800687222 + 45.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002605800687222[0m ×2 + 45.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866362396104 + 45.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866362396104[0m ×2 + 45.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003039514391658 ×2 + 45.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003039514391658[0m ×4 + 46.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149665875408 + 46.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149665875408[0m ×2 + 46.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001475052604812 + 46.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001475052604812[0m ×2 + 46.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002305467258933 + 46.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002305467258933[0m ×2 + 46.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002831677847002 + 46.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002831677847002[0m ×2 + 46.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144390375402 + 46.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144390375402[0m ×2 + 46.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975519405035 + 46.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975519405035[0m ×2 + 46.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003832896970300 + 46.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003832896970300[0m ×2 + 46.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003694928707897 + 46.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003694928707897[0m ×2 + 46.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003575706869849 ×2 + 46.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003575706869849[0m ×4 + 46.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002773451771854 + 46.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002773451771854[0m ×2 + 46.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967416468326 + 46.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967416468326[0m ×2 + 46.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003101048702075 + 46.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003101048702075[0m ×2 + 46.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345716345437 + 46.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345716345437[0m ×2 + 46.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003342658978846 + 46.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003342658978846[0m ×2 + 46.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789525724015 + 46.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837199 ms (missed cycles : 5). + 46.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789525724015[0m ×2 + 46.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837199 ms (missed cycles : 5).[0m ×2 + 46.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002362333531237 + 46.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002362333531237[0m ×2 + 46.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002052730970643 + 46.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002052730970643[0m ×2 + 46.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891391883385 + 46.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891391883385[0m ×2 + 46.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144503321305 + 46.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144503321305[0m ×2 + 46.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003290587048826 + 46.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003290587048826[0m ×2 + 46.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003366160986590 ×2 + 46.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003366160986590[0m ×4 + 46.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003397825226135 + 46.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003397825226135[0m ×2 + 46.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003404122489603 + 46.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003404122489603[0m ×2 + 46.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003650572775907 + 46.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003650572775907[0m ×2 + 46.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002502750028511 + 46.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002502750028511[0m ×2 + 46.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002852187615786 + 46.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002852187615786[0m ×2 + 46.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082497121020 + 46.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082497121020[0m ×2 + 46.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226731291017 + 46.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226731291017[0m ×2 + 46.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311357254100 + 46.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311357254100[0m ×2 + 46.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003356553168688 + 46.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003356553168688[0m ×2 + 46.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003377037500059 + 46.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003377037500059[0m ×2 + 46.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003383090588053 + 46.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003383090588053[0m ×2 + 46.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381567904771 + 46.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381567904771[0m ×2 + 46.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003629537205958 + 46.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003629537205958[0m ×2 + 46.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531797334179 + 46.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531797334179[0m ×2 + 46.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001895374637333 + 46.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001895374637333[0m ×2 + 46.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763515265420 + 46.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763515265420[0m ×2 + 46.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642596356473 + 46.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642596356473[0m ×2 + 46.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003549270125417 + 46.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003549270125417[0m ×2 + 46.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003480690193212 + 46.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003480690193212[0m ×2 + 46.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750867916082 ×2 + 46.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750867916082[0m ×4 + 46.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003640444843498 + 46.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003640444843498[0m ×2 + 46.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003553713815502 + 46.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003553713815502[0m ×2 + 46.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003488898002331 ×2 + 46.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003488898002331[0m ×4 + 46.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003442694998190 + 46.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003442694998190[0m ×2 + 46.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003411353928249 + 46.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003411353928249[0m ×2 + 46.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003391291290110 + 46.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003391291290110[0m ×2 + 46.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003852580199303 + 46.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003852580199303[0m ×2 + 46.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003667780096907 + 46.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003667780096907[0m ×2 + 46.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003541496214755 + 46.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003541496214755[0m ×2 + 46.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003459327192183 ×2 + 46.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003459327192183[0m ×4 + 46.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001803745091196 + 46.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001803745091196[0m ×2 + 46.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000902246707105 + 46.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000902246707105[0m ×2 + 46.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000357763986965 + 46.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000357763986965[0m ×2 + 46.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001635718494977 + 46.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001635718494977[0m ×2 + 46.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002477298310879 + 46.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002477298310879[0m ×2 + 46.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003332751110180 + 46.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003332751110180[0m ×2 + 46.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004876898523163 + 46.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004876898523163[0m ×2 + 46.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456275052782 + 46.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456275052782[0m ×2 + 46.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117465650021 + 46.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117465650021[0m ×2 + 46.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858689358655 ×2 + 46.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858689358655[0m ×4 + 46.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891908756754 + 46.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891908756754[0m ×2 + 46.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003714936616851 ×2 + 46.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003714936616851[0m ×4 + 46.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003585854112811 + 46.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003585854112811[0m ×2 + 46.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003495951136807 + 46.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003495951136807[0m ×2 + 46.65sWARNcontroller_managerOverrun might occur, Total time : 2068.120 us (Expected < 1666.667 us) --> Read time : 265.002 us, Update time : 53.772 us, Write time : 1749.346 us + 46.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004352067334864 + 46.65sWARNros2_control_nodeOverrun might occur, Total time : 2068.120 us (Expected < 1666.667 us) --> Read time : 265.002 us, Update time : 53.772 us, Write time : 1749.346 us[0m ×2 + 46.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004352067334864[0m ×2 + 46.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004064133639514 + 46.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004064133639514[0m ×2 + 46.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003281073994479 + 46.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003281073994479[0m ×2 + 46.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004732338435714 + 46.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004732338435714[0m ×2 + 46.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004282290117093 + 46.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004282290117093[0m ×2 + 46.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951261365694 ×2 + 46.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951261365694[0m ×4 + 46.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002134373562394 + 46.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002134373562394[0m ×2 + 46.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001363385085453 + 46.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001363385085453[0m ×2 + 46.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002221308010842 + 46.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002221308010842[0m ×2 + 46.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004188994250968 + 46.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004188994250968[0m ×2 + 46.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005401495384555 + 46.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005401495384555[0m ×2 + 46.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003166780291215 + 46.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003166780291215[0m ×2 + 46.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614492915276 + 46.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614492915276[0m ×2 + 46.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005514152130320 + 46.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005514152130320[0m ×2 + 46.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005587601307469 + 46.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005587601307469[0m ×2 + 46.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004738562084106 + 46.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004738562084106[0m ×2 + 46.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004151070571881 + 46.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004151070571881[0m ×2 + 46.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763263927769 + 46.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763263927769[0m ×2 + 46.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003521234844631 + 46.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003521234844631[0m ×2 + 46.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004722322898895 + 46.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004722322898895[0m ×2 + 46.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004146602814426 ×2 + 46.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004146602814426[0m ×4 + 46.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766972428711 + 46.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766972428711[0m ×2 + 46.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001948638981767 + 46.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001948638981767[0m ×2 + 46.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003745051413068 + 46.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003745051413068[0m ×2 + 46.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004922469443801 + 46.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004922469443801[0m ×2 + 46.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004312825710117 + 46.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004312825710117[0m ×2 + 46.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775320416651 + 46.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775320416651[0m ×2 + 46.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004146101824243 + 46.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004146101824243[0m ×2 + 46.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938964712005 + 46.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938964712005[0m ×2 + 46.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048212154671 ×2 + 46.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048212154671[0m ×4 + 46.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389304841237 + 46.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389304841237[0m ×2 + 47.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003937374643393 + 47.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003937374643393[0m ×2 + 47.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004977767356031 + 47.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004977767356031[0m ×2 + 47.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005227384381602 + 47.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005227384381602[0m ×2 + 47.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004447868568923 + 47.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004447868568923[0m ×2 + 47.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927449384676 + 47.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927449384676[0m ×2 + 47.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931900663869 + 47.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931900663869[0m ×2 + 47.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004234110437725 + 47.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004234110437725[0m ×2 + 47.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003779017636240 + 47.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003779017636240[0m ×2 + 47.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004831151398599 + 47.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004831151398599[0m ×2 + 47.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169775363145 ×2 + 47.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169775363145[0m ×4 + 47.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002169577078997 + 47.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002169577078997[0m ×2 + 47.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827355943055 + 47.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827355943055[0m ×2 + 47.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004917455759091 ×2 + 47.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004917455759091[0m ×4 + 47.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265825845449 + 47.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265825845449[0m ×2 + 47.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156493527074 + 47.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475564 ms (missed cycles : 3). + 47.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156493527074[0m ×2 + 47.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475564 ms (missed cycles : 3).[0m ×2 + 47.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004210881816125 + 47.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004210881816125[0m ×2 + 47.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005122890382527 + 47.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005122890382527[0m ×2 + 47.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200380601500 + 47.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200380601500[0m ×2 + 47.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005114201763167 + 47.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005114201763167[0m ×2 + 47.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005570974408351 + 47.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005570974408351[0m ×2 + 47.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004636232571515 + 47.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004636232571515[0m ×2 + 47.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005330118862256 + 47.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005330118862256[0m ×2 + 47.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004431719797045 + 47.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004431719797045[0m ×2 + 47.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005273761499926 + 47.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005273761499926[0m ×2 + 47.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369803426364 + 47.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369803426364[0m ×2 + 47.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005104947359876 + 47.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005104947359876[0m ×2 + 47.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254557435392 ×2 + 47.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254557435392[0m ×4 + 47.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005027214472586 + 47.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005027214472586[0m ×2 + 47.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205699838414 + 47.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205699838414[0m ×2 + 47.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004995484542571 ×2 + 47.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004995484542571[0m ×4 + 47.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004187063816927 + 47.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004187063816927[0m ×2 + 47.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004982225627332 + 47.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004982225627332[0m ×2 + 47.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005488083649775 ×2 + 47.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005488083649775[0m ×4 + 47.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002711848315724 + 47.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002711848315724[0m ×2 + 47.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258305207292 + 47.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258305207292[0m ×2 + 47.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005091280523501 + 47.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005091280523501[0m ×2 + 47.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003431537746006 + 47.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003431537746006[0m ×2 + 47.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698427292043 + 47.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698427292043[0m ×2 + 47.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127328674183 + 47.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127328674183[0m ×2 + 47.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005074523027420 + 47.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005074523027420[0m ×2 + 47.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005633117172329 + 47.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005633117172329[0m ×2 + 47.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007161154241928 + 47.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007161154241928[0m ×2 + 47.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006878785269820 + 47.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006878785269820[0m ×2 + 47.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311308194930 + 47.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311308194930[0m ×2 + 47.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005559182886457 ×2 + 47.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005559182886457[0m ×4 + 47.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005702472564891 + 47.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005702472564891[0m ×2 + 47.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005775776943847 + 47.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005775776943847[0m ×2 + 47.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004519471583657 + 47.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004519471583657[0m ×2 + 47.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005339071160184 + 47.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005339071160184[0m ×2 + 47.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001093667342343 + 47.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001093667342343[0m ×2 + 47.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002475721890090 + 47.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002475721890090[0m ×2 + 47.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004021846451810 + 47.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004021846451810[0m ×2 + 47.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002207800282634 + 47.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002207800282634[0m ×2 + 47.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003836448349713 + 47.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003836448349713[0m ×2 + 47.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871124245397 + 47.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871124245397[0m ×2 + 47.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002703524858577 ×2 + 47.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002703524858577[0m ×4 + 47.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001304018187627 + 47.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001304018187627[0m ×2 + 47.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003234300439024 + 47.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003234300439024[0m ×2 + 47.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004486400818845 ×2 + 47.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004486400818845[0m ×4 + 47.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002478209477675 + 47.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002478209477675[0m ×2 + 47.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954812363500 + 47.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954812363500[0m ×2 + 47.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890128384719 + 47.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890128384719[0m ×2 + 47.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006384750995286 + 47.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006384750995286[0m ×2 + 47.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554448778763 + 47.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554448778763[0m ×2 + 47.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005146360754027 + 47.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005146360754027[0m ×2 + 47.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002741810070374 + 47.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002741810070374[0m ×2 + 47.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963415993481 + 47.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963415993481[0m ×2 + 47.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005448343453436 + 47.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005448343453436[0m ×2 + 47.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005682534254904 + 47.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005682534254904[0m ×2 + 47.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008099714233116 + 47.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008099714233116[0m ×2 + 47.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005982750066452 ×2 + 47.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005982750066452[0m ×4 + 47.75sWARNcontroller_managerOverrun might occur, Total time : 2060.849 us (Expected < 1666.667 us) --> Read time : 264.701 us, Update time : 96.294 us, Write time : 1699.854 us + 47.75sWARNros2_control_nodeOverrun might occur, Total time : 2060.849 us (Expected < 1666.667 us) --> Read time : 264.701 us, Update time : 96.294 us, Write time : 1699.854 us[0m ×2 + 47.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001277539506236 + 47.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001277539506236[0m ×2 + 47.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000219575444434 + 47.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000219575444434[0m ×2 + 47.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002391102305911 + 47.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002391102305911[0m ×2 + 47.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003848536809331 + 47.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003848536809331[0m ×2 + 47.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002061049519754 ×2 + 47.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002061049519754[0m ×4 + 47.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000255281676690 + 47.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000255281676690[0m ×2 + 47.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002607780007659 + 47.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002607780007659[0m ×2 + 47.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127208646650 ×2 + 47.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127208646650[0m ×4 + 47.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005046632859577 + 47.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005046632859577[0m ×2 + 47.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002854568579793 + 47.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002854568579793[0m ×2 + 47.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117351157691 + 47.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117351157691[0m ×2 + 47.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004901584216191 + 47.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004901584216191[0m ×2 + 47.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005350948114257 + 47.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005350948114257[0m ×2 + 47.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007850315837252 + 47.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007850315837252[0m ×2 + 47.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007077014045831 ×2 + 47.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007077014045831[0m ×4 + 47.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006479661597281 + 47.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006479661597281[0m ×2 + 47.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380934872480 + 47.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380934872480[0m ×2 + 47.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006329420347310 ×2 + 47.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006329420347310[0m ×4 + 47.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005961675627139 + 47.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005961675627139[0m ×2 + 47.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007929744048514 + 47.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007929744048514[0m ×2 + 47.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006885431971195 + 47.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006885431971195[0m ×2 + 47.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006160844828042 ×2 + 47.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006160844828042[0m ×4 + 47.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003063245584456 + 48.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003063245584456[0m ×2 + 48.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005979334130531 + 48.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005979334130531[0m ×2 + 48.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001211384680386 + 48.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001211384680386[0m ×2 + 48.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004965467222103 + 48.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004965467222103[0m ×2 + 48.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007386492877775 + 48.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007386492877775[0m ×2 + 48.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066561384103 + 48.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066561384103[0m ×2 + 48.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919099915326 + 48.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919099915326[0m ×2 + 48.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005390669911146 ×2 + 48.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005390669911146[0m ×4 + 48.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007606305343216 + 48.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007606305343216[0m ×2 + 48.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004183309526295 + 48.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004183309526295[0m ×2 + 48.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006704402406529 + 48.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006704402406529[0m ×2 + 48.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008271939733505 + 48.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008271939733505[0m ×2 + 48.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007012133276665 + 48.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007012133276665[0m ×2 + 48.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008285732710640 ×2 + 48.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008285732710640[0m ×4 + 48.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.844289 ms (missed cycles : 8). + 48.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.844289 ms (missed cycles : 8).[0m ×2 + 48.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354107653610 + 48.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354107653610[0m ×2 + 48.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000377316363429 + 48.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000377316363429[0m ×2 + 48.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690633845280 + 48.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690633845280[0m ×2 + 48.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005449963849227 + 48.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005449963849227[0m ×2 + 48.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007773981183348 + 48.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007773981183348[0m ×2 + 48.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009091135801637 ×2 + 48.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009091135801637[0m ×4 + 48.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009734960984487 + 48.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009734960984487[0m ×2 + 48.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007112908097219 + 48.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007112908097219[0m ×2 + 48.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005988842472953 + 48.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005988842472953[0m ×2 + 48.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007502003190698 ×2 + 48.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007502003190698[0m ×4 + 48.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008405162837910 + 48.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008405162837910[0m ×2 + 48.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008887259898797 + 48.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008887259898797[0m ×2 + 48.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004625532742308 + 48.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004625532742308[0m ×2 + 48.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001922234441109 + 48.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001922234441109[0m ×2 + 48.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000325995775919 + 48.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000325995775919[0m ×2 + 48.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000519607901573 + 48.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000519607901573[0m ×2 + 48.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000882807571623 + 48.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000882807571623[0m ×2 + 48.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000956549830513 ×2 + 48.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000956549830513[0m ×4 + 48.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000873339385453 + 48.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000873339385453[0m ×2 + 48.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000719547204888 + 48.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000719547204888[0m ×2 + 48.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000547919760113 ×2 + 48.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000547919760113[0m ×4 + 48.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000387803145807 + 48.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000387803145807[0m ×2 + 48.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000253064157816 + 48.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000253064157816[0m ×2 + 48.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071181807216 + 48.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071181807216[0m ×2 + 48.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018797790513 + 48.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018797790513[0m ×2 + 48.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014161890934 + 48.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014161890934[0m ×2 + 48.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032591239294 + 48.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032591239294[0m ×2 + 48.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000040792639593 ×2 + 48.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000040792639593[0m ×4 + 48.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042263498564 + 48.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042263498564[0m ×2 + 48.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039674619111 + 48.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039674619111[0m ×2 + 48.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034951937678 + 48.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034951937678[0m ×2 + 48.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029403664048 ×2 + 48.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029403664048[0m ×4 + 48.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023857242470 + 48.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023857242470[0m ×2 + 48.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014417914976 + 48.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014417914976[0m ×2 + 48.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010818188058 ×2 + 48.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010818188058[0m ×4 + 48.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007955723775 + 48.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007955723775[0m ×2 + 48.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005747232575 + 48.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005747232575[0m ×2 + 48.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004087996849 ×2 + 48.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004087996849[0m ×4 + 48.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001383950221 + 48.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001383950221[0m ×2 + 48.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000960186106 + 48.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000960186106[0m ×2 + 48.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000478974407 + 48.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000478974407[0m ×2 + 48.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000350059915 + 48.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000350059915[0m ×2 + 48.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000263910414 ×2 + 48.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000263910414[0m ×4 + 48.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000205558738 + 48.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000205558738[0m ×2 + 48.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000164940005 + 48.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000164940005[0m ×2 + 48.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000135492717 ×2 + 48.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000135492717[0m ×4 + 48.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000004102994771 + 48.70sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000004102994771[0m ×2 + 48.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000003266854563 + 48.71sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000003266854563[0m ×2 + 48.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000002601019697 ×2 + 48.72sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000002601019697[0m ×4 + 48.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000002070864729 + 48.73sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000002070864729[0m ×2 + 48.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000001648778253 + 48.74sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000001648778253[0m ×2 + 48.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000001312750123 ×2 + 48.75sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000001312750123[0m ×4 + 48.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000001045241417 + 48.76sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000001045241417[0m ×2 + 48.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000832280706 + 48.78sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000832280706[0m ×2 + 48.78sWARNcontroller_managerOverrun might occur, Total time : 1951.554 us (Expected < 1666.667 us) --> Read time : 766.573 us, Update time : 154.897 us, Write time : 1030.084 us + 48.79sWARNros2_control_nodeOverrun might occur, Total time : 1951.554 us (Expected < 1666.667 us) --> Read time : 766.573 us, Update time : 154.897 us, Write time : 1030.084 us[0m ×2 + 48.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000662741658 + 48.80sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000662741658[0m ×2 + 48.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000334736395 + 48.81sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000334736395[0m ×2 + 48.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000266603716 ×2 + 48.82sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000266603716[0m ×4 + 48.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000212348736 + 48.85sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000212348736[0m ×2 + 48.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000161393318 + 48.88sERRORros2_control_nodeVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000161393318[0m ×2 + 48.88sINFOjoint_trajectory_controllerAccepted new action goal ×28 + 48.89sINFOros2_control_nodeAccepted new action goal[0m ×56 + 49.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781203627.68730617 seconds ×3 + 49.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 49.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 49.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 49.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 49.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 49.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 49.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619865 ms (missed cycles : 4). + 49.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619865 ms (missed cycles : 4).[0m ×2 + 49.48sINFOros2_control_nodeMuJoCo sim: 1.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 49.82sWARNcontroller_managerOverrun might occur, Total time : 1828.299 us (Expected < 1666.667 us) --> Read time : 661.659 us, Update time : 106.804 us, Write time : 1059.836 us + 49.82sWARNros2_control_nodeOverrun might occur, Total time : 1828.299 us (Expected < 1666.667 us) --> Read time : 661.659 us, Update time : 106.804 us, Write time : 1059.836 us[0m ×2 + 49.83sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781203628.38623238 seconds. ×3 + 49.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 49.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 49.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 49.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 49.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 49.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 49.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 49.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 49.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 49.98sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). ×2 + 49.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 49.99sINFOros2_control_node[2026-06-11 18:47:08.548] [info] Received new action goal ×2 + 50.00sINFOros2_control_node[2026-06-11 18:47:08.548] [info] Accepted new action goal ×2 + 50.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226205 ms (missed cycles : 2). + 50.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226205 ms (missed cycles : 2).[0m ×2 + 50.83sWARNcontroller_managerOverrun might occur, Total time : 1823.698 us (Expected < 1666.667 us) --> Read time : 633.267 us, Update time : 85.214 us, Write time : 1105.217 us + 50.83sWARNros2_control_nodeOverrun might occur, Total time : 1823.698 us (Expected < 1666.667 us) --> Read time : 633.267 us, Update time : 85.214 us, Write time : 1105.217 us[0m ×2 + 51.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878843 ms (missed cycles : 4). + 51.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878843 ms (missed cycles : 4).[0m ×2 + 52.11sWARNcontroller_managerOverrun might occur, Total time : 7159.228 us (Expected < 1666.667 us) --> Read time : 217.399 us, Update time : 6443.277 us, Write time : 498.552 us + 52.11sWARNros2_control_nodeOverrun might occur, Total time : 7159.228 us (Expected < 1666.667 us) --> Read time : 217.399 us, Update time : 6443.277 us, Write time : 498.552 us[0m ×2 + 52.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519895 ms (missed cycles : 4). + 52.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519895 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.0s | 270 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781203525.59621239 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.772503 ms (missed cycles : 8). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.772503 ms (missed cycles : 8).[0m ×2 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 1689.692 us (Expected < 1666.667 us) --> Read time : 214.459 us, Update time : 66.173 us, Write time : 1409.060 us + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 1689.692 us (Expected < 1666.667 us) --> Read time : 214.459 us, Update time : 66.173 us, Write time : 1409.060 us[0m ×2 + 0.64sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781203526.24078202 seconds. ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134797 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134797 ms (missed cycles : 3).[0m ×2 + 1.23sINFOobjective_server_node[0;93m2026-06-11 18:45:26.830052423 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.23sINFOobjective_server_node[0;93m2026-06-11 18:45:26.830092055 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 2116.741 us (Expected < 1666.667 us) --> Read time : 445.049 us, Update time : 594.986 us, Write time : 1076.706 us + 1.47sWARNros2_control_nodeOverrun might occur, Total time : 2116.741 us (Expected < 1666.667 us) --> Read time : 445.049 us, Update time : 594.986 us, Write time : 1076.706 us[0m ×2 + 1.78sINFOobjective_server_node[0;93m2026-06-11 18:45:27.375865164 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.78sINFOobjective_server_node[0;93m2026-06-11 18:45:27.375907466 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.90sINFOobjective_server_node[0;93m2026-06-11 18:45:27.500084588 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.91sINFOobjective_server_node[0;93m2026-06-11 18:45:27.502714891 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.91sINFOobjective_server_node[0;93m2026-06-11 18:45:27.502755962 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592183 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592183 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_node[0;93m2026-06-11 18:45:27.850186330 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.27sINFOobjective_server_node[0;93m2026-06-11 18:45:27.869078299 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.27sINFOobjective_server_node[0;93m2026-06-11 18:45:27.869122071 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.55sWARNcontroller_managerOverrun might occur, Total time : 1812.538 us (Expected < 1666.667 us) --> Read time : 312.084 us, Update time : 996.093 us, Write time : 504.361 us + 2.55sWARNros2_control_nodeOverrun might occur, Total time : 1812.538 us (Expected < 1666.667 us) --> Read time : 312.084 us, Update time : 996.093 us, Write time : 504.361 us[0m ×2 + 3.13sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781203528.72572136 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766698 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766698 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781203529.44128442 seconds. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.25sINFOros2_control_node[2026-06-11 18:45:29.849] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-11 18:45:29.849] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699074 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699074 ms (missed cycles : 2).[0m ×2 + 4.65sWARNcontroller_managerOverrun might occur, Total time : 2139.272 us (Expected < 1666.667 us) --> Read time : 251.321 us, Update time : 88.354 us, Write time : 1799.597 us + 4.65sWARNros2_control_nodeOverrun might occur, Total time : 2139.272 us (Expected < 1666.667 us) --> Read time : 251.321 us, Update time : 88.354 us, Write time : 1799.597 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834771 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834771 ms (missed cycles : 5).[0m ×2 + 5.66sWARNcontroller_managerOverrun might occur, Total time : 2633.493 us (Expected < 1666.667 us) --> Read time : 258.721 us, Update time : 1627.760 us, Write time : 747.012 us + 5.66sWARNros2_control_nodeOverrun might occur, Total time : 2633.493 us (Expected < 1666.667 us) --> Read time : 258.721 us, Update time : 1627.760 us, Write time : 747.012 us[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368819 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368819 ms (missed cycles : 2).[0m ×2 + 6.95sWARNcontroller_managerOverrun might occur, Total time : 1744.875 us (Expected < 1666.667 us) --> Read time : 484.811 us, Update time : 73.193 us, Write time : 1186.871 us + 6.95sWARNros2_control_nodeOverrun might occur, Total time : 1744.875 us (Expected < 1666.667 us) --> Read time : 484.811 us, Update time : 73.193 us, Write time : 1186.871 us[0m ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×4 + 7.11sINFOros2_control_node[2026-06-11 18:45:32.710] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-06-11 18:45:32.710] [info] Accepted new action goal ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463801 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463801 ms (missed cycles : 3).[0m ×2 + 8.11sWARNcontroller_managerOverrun might occur, Total time : 1915.022 us (Expected < 1666.667 us) --> Read time : 236.700 us, Update time : 358.916 us, Write time : 1319.406 us + 8.12sWARNros2_control_nodeOverrun might occur, Total time : 1915.022 us (Expected < 1666.667 us) --> Read time : 236.700 us, Update time : 358.916 us, Write time : 1319.406 us[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100801 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100801 ms (missed cycles : 2).[0m ×2 + 9.21sWARNcontroller_managerOverrun might occur, Total time : 2101.400 us (Expected < 1666.667 us) --> Read time : 213.649 us, Update time : 1436.382 us, Write time : 451.369 us + 9.21sWARNros2_control_nodeOverrun might occur, Total time : 2101.400 us (Expected < 1666.667 us) --> Read time : 213.649 us, Update time : 1436.382 us, Write time : 451.369 us[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238432 ms (missed cycles : 4). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238432 ms (missed cycles : 4).[0m ×2 + 10.27sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.29sINFOros2_control_node[2026-06-11 18:45:35.887] [info] Received new action goal ×2 + 10.29sINFOros2_control_node[2026-06-11 18:45:35.887] [info] Accepted new action goal ×2 + 10.34sWARNcontroller_managerOverrun might occur, Total time : 3875.446 us (Expected < 1666.667 us) --> Read time : 227.470 us, Update time : 75.813 us, Write time : 3572.163 us + 10.34sWARNros2_control_nodeOverrun might occur, Total time : 3875.446 us (Expected < 1666.667 us) --> Read time : 227.470 us, Update time : 75.813 us, Write time : 3572.163 us[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.627192 ms (missed cycles : 5). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.627192 ms (missed cycles : 5).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383156 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383156 ms (missed cycles : 2).[0m ×2 + 11.62sWARNcontroller_managerOverrun might occur, Total time : 8525.536 us (Expected < 1666.667 us) --> Read time : 224.820 us, Update time : 7835.136 us, Write time : 465.580 us + 11.63sWARNros2_control_nodeOverrun might occur, Total time : 8525.536 us (Expected < 1666.667 us) --> Read time : 224.820 us, Update time : 7835.136 us, Write time : 465.580 us[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053352 ms (missed cycles : 3). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053352 ms (missed cycles : 3).[0m ×2 + 12.91sWARNcontroller_managerOverrun might occur, Total time : 1689.542 us (Expected < 1666.667 us) --> Read time : 552.064 us, Update time : 293.282 us, Write time : 844.196 us + 12.91sWARNros2_control_nodeOverrun might occur, Total time : 1689.542 us (Expected < 1666.667 us) --> Read time : 552.064 us, Update time : 293.282 us, Write time : 844.196 us[0m ×2 + 13.26sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×4 + 13.27sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.30sINFOros2_control_node[2026-06-11 18:45:38.891] [info] Received new action goal ×2 + 13.30sINFOros2_control_node[2026-06-11 18:45:38.891] [info] Accepted new action goal ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094882 ms (missed cycles : 5). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094882 ms (missed cycles : 5).[0m ×2 + 13.96sWARNcontroller_managerOverrun might occur, Total time : 2624.212 us (Expected < 1666.667 us) --> Read time : 238.700 us, Update time : 1840.849 us, Write time : 544.663 us + 13.96sWARNros2_control_nodeOverrun might occur, Total time : 2624.212 us (Expected < 1666.667 us) --> Read time : 238.700 us, Update time : 1840.849 us, Write time : 544.663 us[0m ×2 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045930 ms (missed cycles : 3). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045930 ms (missed cycles : 3).[0m ×2 + 15.11sWARNcontroller_managerOverrun might occur, Total time : 1890.810 us (Expected < 1666.667 us) --> Read time : 825.365 us, Update time : 87.703 us, Write time : 977.742 us + 15.11sWARNros2_control_nodeOverrun might occur, Total time : 1890.810 us (Expected < 1666.667 us) --> Read time : 825.365 us, Update time : 87.703 us, Write time : 977.742 us[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363893 ms (missed cycles : 3). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363893 ms (missed cycles : 3).[0m ×2 + 16.11sWARNcontroller_managerOverrun might occur, Total time : 2012.566 us (Expected < 1666.667 us) --> Read time : 409.627 us, Update time : 90.974 us, Write time : 1511.965 us + 16.11sWARNros2_control_nodeOverrun might occur, Total time : 2012.566 us (Expected < 1666.667 us) --> Read time : 409.627 us, Update time : 90.974 us, Write time : 1511.965 us[0m ×2 + 16.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.26sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.26sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.26sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.26sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.680361 ms (missed cycles : 8). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.680361 ms (missed cycles : 8).[0m ×2 + 17.36sWARNcontroller_managerOverrun might occur, Total time : 3342.693 us (Expected < 1666.667 us) --> Read time : 301.233 us, Update time : 2591.411 us, Write time : 450.049 us + 17.36sWARNros2_control_nodeOverrun might occur, Total time : 3342.693 us (Expected < 1666.667 us) --> Read time : 301.233 us, Update time : 2591.411 us, Write time : 450.049 us[0m ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.183024 ms (missed cycles : 6). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.183024 ms (missed cycles : 6).[0m ×2 + 18.38sWARNcontroller_managerOverrun might occur, Total time : 5444.154 us (Expected < 1666.667 us) --> Read time : 290.982 us, Update time : 4413.020 us, Write time : 740.152 us + 18.38sWARNros2_control_nodeOverrun might occur, Total time : 5444.154 us (Expected < 1666.667 us) --> Read time : 290.982 us, Update time : 4413.020 us, Write time : 740.152 us[0m ×2 + 18.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852322 ms (missed cycles : 2). + 18.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852322 ms (missed cycles : 2).[0m ×2 + 19.57sWARNcontroller_managerOverrun might occur, Total time : 2446.055 us (Expected < 1666.667 us) --> Read time : 217.940 us, Update time : 1577.408 us, Write time : 650.707 us + 19.57sWARNros2_control_nodeOverrun might occur, Total time : 2446.055 us (Expected < 1666.667 us) --> Read time : 217.940 us, Update time : 1577.408 us, Write time : 650.707 us[0m ×2 + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680859 ms (missed cycles : 2). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680859 ms (missed cycles : 2).[0m ×2 + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876472 ms (missed cycles : 2). + 20.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876472 ms (missed cycles : 2).[0m ×2 + 20.92sWARNcontroller_managerOverrun might occur, Total time : 3621.345 us (Expected < 1666.667 us) --> Read time : 263.801 us, Update time : 2885.304 us, Write time : 472.240 us + 20.92sWARNros2_control_nodeOverrun might occur, Total time : 3621.345 us (Expected < 1666.667 us) --> Read time : 263.801 us, Update time : 2885.304 us, Write time : 472.240 us[0m ×2 + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371675 ms (missed cycles : 3). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371675 ms (missed cycles : 3).[0m ×2 + 21.92sWARNcontroller_managerOverrun might occur, Total time : 2434.605 us (Expected < 1666.667 us) --> Read time : 247.211 us, Update time : 1069.916 us, Write time : 1117.478 us + 21.93sWARNros2_control_nodeOverrun might occur, Total time : 2434.605 us (Expected < 1666.667 us) --> Read time : 247.211 us, Update time : 1069.916 us, Write time : 1117.478 us[0m ×2 + 22.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049658 ms (missed cycles : 4). + 22.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049658 ms (missed cycles : 4).[0m ×2 + 22.97sWARNcontroller_managerOverrun might occur, Total time : 1833.239 us (Expected < 1666.667 us) --> Read time : 255.621 us, Update time : 900.829 us, Write time : 676.789 us + 22.97sWARNros2_control_nodeOverrun might occur, Total time : 1833.239 us (Expected < 1666.667 us) --> Read time : 255.621 us, Update time : 900.829 us, Write time : 676.789 us[0m ×2 + 23.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238130 ms (missed cycles : 5). + 23.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238130 ms (missed cycles : 5).[0m ×2 + 23.94sINFOros2_control_node[2026-06-11 18:45:49.538] [info] Received new action goal ×2 + 23.94sINFOros2_control_node[2026-06-11 18:45:49.538] [info] Accepted new action goal ×2 + 24.04sWARNcontroller_managerOverrun might occur, Total time : 1842.879 us (Expected < 1666.667 us) --> Read time : 268.481 us, Update time : 91.464 us, Write time : 1482.934 us + 24.04sWARNros2_control_nodeOverrun might occur, Total time : 1842.879 us (Expected < 1666.667 us) --> Read time : 268.481 us, Update time : 91.464 us, Write time : 1482.934 us[0m ×2 + 24.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829956 ms (missed cycles : 2). + 24.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829956 ms (missed cycles : 2).[0m ×2 + 25.12sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.12sWARNcontroller_managerOverrun might occur, Total time : 1821.177 us (Expected < 1666.667 us) --> Read time : 282.742 us, Update time : 539.873 us, Write time : 998.562 us + 25.12sWARNros2_control_nodeOverrun might occur, Total time : 1821.177 us (Expected < 1666.667 us) --> Read time : 282.742 us, Update time : 539.873 us, Write time : 998.562 us[0m ×2 + 25.13sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.40sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 25.40sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.44sINFOros2_control_node[2026-06-11 18:45:51.031] [info] Received new action goal ×2 + 25.44sINFOros2_control_node[2026-06-11 18:45:51.031] [info] Accepted new action goal ×2 + 25.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471979 ms (missed cycles : 3). + 25.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471979 ms (missed cycles : 3).[0m ×2 + 26.21sWARNcontroller_managerOverrun might occur, Total time : 1714.933 us (Expected < 1666.667 us) --> Read time : 228.230 us, Update time : 492.541 us, Write time : 994.162 us + 26.21sWARNros2_control_nodeOverrun might occur, Total time : 1714.933 us (Expected < 1666.667 us) --> Read time : 228.230 us, Update time : 492.541 us, Write time : 994.162 us[0m ×2 + 26.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948202 ms (missed cycles : 2). + 26.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948202 ms (missed cycles : 2).[0m ×2 + 27.24sWARNcontroller_managerOverrun might occur, Total time : 4627.358 us (Expected < 1666.667 us) --> Read time : 307.453 us, Update time : 73.053 us, Write time : 4246.852 us + 27.24sWARNros2_control_nodeOverrun might occur, Total time : 4627.358 us (Expected < 1666.667 us) --> Read time : 307.453 us, Update time : 73.053 us, Write time : 4246.852 us[0m ×2 + 27.56sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.57sINFOros2_control_node[2026-06-11 18:45:53.169] [info] Received new action goal ×2 + 27.57sINFOros2_control_node[2026-06-11 18:45:53.169] [info] Accepted new action goal ×2 + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.944236 ms (missed cycles : 6). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.944236 ms (missed cycles : 6).[0m ×2 + 28.47sWARNcontroller_managerOverrun might occur, Total time : 3370.584 us (Expected < 1666.667 us) --> Read time : 296.952 us, Update time : 87.594 us, Write time : 2986.038 us + 28.47sWARNros2_control_nodeOverrun might occur, Total time : 3370.584 us (Expected < 1666.667 us) --> Read time : 296.952 us, Update time : 87.594 us, Write time : 2986.038 us[0m ×2 + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708620 ms (missed cycles : 2). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708620 ms (missed cycles : 2).[0m ×2 + 29.52sWARNcontroller_managerOverrun might occur, Total time : 2171.263 us (Expected < 1666.667 us) --> Read time : 275.872 us, Update time : 1374.419 us, Write time : 520.972 us + 29.52sWARNros2_control_nodeOverrun might occur, Total time : 2171.263 us (Expected < 1666.667 us) --> Read time : 275.872 us, Update time : 1374.419 us, Write time : 520.972 us[0m ×2 + 30.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.333179 ms (missed cycles : 7). + 30.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.333179 ms (missed cycles : 7).[0m ×2 + 30.60sWARNcontroller_managerOverrun might occur, Total time : 1676.372 us (Expected < 1666.667 us) --> Read time : 327.884 us, Update time : 66.433 us, Write time : 1282.055 us + 30.60sWARNros2_control_nodeOverrun might occur, Total time : 1676.372 us (Expected < 1666.667 us) --> Read time : 327.884 us, Update time : 66.433 us, Write time : 1282.055 us[0m ×2 + 30.62sINFOros2_control_node[2026-06-11 18:45:56.215] [info] Received new action goal ×2 + 30.62sINFOros2_control_node[2026-06-11 18:45:56.215] [info] Accepted new action goal ×2 + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445665 ms (missed cycles : 3). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445665 ms (missed cycles : 3).[0m ×2 + 31.64sWARNcontroller_managerOverrun might occur, Total time : 5535.037 us (Expected < 1666.667 us) --> Read time : 198.568 us, Update time : 4808.517 us, Write time : 527.952 us + 31.64sWARNros2_control_nodeOverrun might occur, Total time : 5535.037 us (Expected < 1666.667 us) --> Read time : 198.568 us, Update time : 4808.517 us, Write time : 527.952 us[0m ×2 + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815253 ms (missed cycles : 5). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815253 ms (missed cycles : 5).[0m ×2 + 32.73sWARNcontroller_managerOverrun might occur, Total time : 2755.739 us (Expected < 1666.667 us) --> Read time : 332.305 us, Update time : 1864.110 us, Write time : 559.324 us + 32.73sWARNros2_control_nodeOverrun might occur, Total time : 2755.739 us (Expected < 1666.667 us) --> Read time : 332.305 us, Update time : 1864.110 us, Write time : 559.324 us[0m ×2 + 33.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272374 ms (missed cycles : 4). + 33.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272374 ms (missed cycles : 4).[0m ×2 + 33.23sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 33.23sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.27sINFOros2_control_node[2026-06-11 18:45:58.867] [info] Received new action goal ×2 + 33.27sINFOros2_control_node[2026-06-11 18:45:58.867] [info] Accepted new action goal ×2 + 33.97sWARNcontroller_managerOverrun might occur, Total time : 2130.081 us (Expected < 1666.667 us) --> Read time : 456.479 us, Update time : 197.949 us, Write time : 1475.653 us + 33.97sWARNros2_control_nodeOverrun might occur, Total time : 2130.081 us (Expected < 1666.667 us) --> Read time : 456.479 us, Update time : 197.949 us, Write time : 1475.653 us[0m ×2 + 34.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.324362 ms (missed cycles : 6). + 34.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.324362 ms (missed cycles : 6).[0m ×2 + 35.14sWARNcontroller_managerOverrun might occur, Total time : 6396.124 us (Expected < 1666.667 us) --> Read time : 230.809 us, Update time : 80.204 us, Write time : 6085.111 us + 35.14sWARNros2_control_nodeOverrun might occur, Total time : 6396.124 us (Expected < 1666.667 us) --> Read time : 230.809 us, Update time : 80.204 us, Write time : 6085.111 us[0m ×2 + 35.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034993 ms (missed cycles : 2). + 35.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034993 ms (missed cycles : 2).[0m ×2 + 36.14sWARNcontroller_managerOverrun might occur, Total time : 2561.869 us (Expected < 1666.667 us) --> Read time : 226.229 us, Update time : 103.895 us, Write time : 2231.745 us + 36.14sWARNros2_control_nodeOverrun might occur, Total time : 2561.869 us (Expected < 1666.667 us) --> Read time : 226.229 us, Update time : 103.895 us, Write time : 2231.745 us[0m ×2 + 36.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422909 ms (missed cycles : 4). + 36.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422909 ms (missed cycles : 4).[0m ×2 + 37.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028531 ms (missed cycles : 5). + 37.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028531 ms (missed cycles : 5).[0m ×2 + 37.24sWARNcontroller_managerOverrun might occur, Total time : 5075.838 us (Expected < 1666.667 us) --> Read time : 214.639 us, Update time : 4248.043 us, Write time : 613.156 us + 37.24sWARNros2_control_nodeOverrun might occur, Total time : 5075.838 us (Expected < 1666.667 us) --> Read time : 214.639 us, Update time : 4248.043 us, Write time : 613.156 us[0m ×2 + 38.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634868 ms (missed cycles : 3). + 38.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634868 ms (missed cycles : 3).[0m ×2 + 38.27sWARNcontroller_managerOverrun might occur, Total time : 1906.962 us (Expected < 1666.667 us) --> Read time : 250.701 us, Update time : 1083.456 us, Write time : 572.805 us + 38.27sWARNros2_control_nodeOverrun might occur, Total time : 1906.962 us (Expected < 1666.667 us) --> Read time : 250.701 us, Update time : 1083.456 us, Write time : 572.805 us[0m ×2 + 39.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.498109 ms (missed cycles : 5). + 39.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.498109 ms (missed cycles : 5).[0m ×2 + 39.35sWARNcontroller_managerOverrun might occur, Total time : 2718.376 us (Expected < 1666.667 us) --> Read time : 325.034 us, Update time : 1665.471 us, Write time : 727.871 us + 39.35sWARNros2_control_nodeOverrun might occur, Total time : 2718.376 us (Expected < 1666.667 us) --> Read time : 325.034 us, Update time : 1665.471 us, Write time : 727.871 us[0m ×2 + 40.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.671064 ms (missed cycles : 5). + 40.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.671064 ms (missed cycles : 5).[0m ×2 + 40.57sWARNcontroller_managerOverrun might occur, Total time : 5683.724 us (Expected < 1666.667 us) --> Read time : 185.718 us, Update time : 52.412 us, Write time : 5445.594 us + 40.57sWARNros2_control_nodeOverrun might occur, Total time : 5683.724 us (Expected < 1666.667 us) --> Read time : 185.718 us, Update time : 52.412 us, Write time : 5445.594 us[0m ×2 + 41.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854395 ms (missed cycles : 3). + 41.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854395 ms (missed cycles : 3).[0m ×2 + 41.74sWARNcontroller_managerOverrun might occur, Total time : 2055.079 us (Expected < 1666.667 us) --> Read time : 363.396 us, Update time : 664.209 us, Write time : 1027.474 us + 41.74sWARNros2_control_nodeOverrun might occur, Total time : 2055.079 us (Expected < 1666.667 us) --> Read time : 363.396 us, Update time : 664.209 us, Write time : 1027.474 us[0m ×2 + 42.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399397 ms (missed cycles : 6). + 42.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399397 ms (missed cycles : 6).[0m ×2 + 42.44sINFOros2_control_nodeMuJoCo sim: 1.47% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 43.02sWARNcontroller_managerOverrun might occur, Total time : 2297.899 us (Expected < 1666.667 us) --> Read time : 221.040 us, Update time : 1455.142 us, Write time : 621.717 us + 43.02sWARNros2_control_nodeOverrun might occur, Total time : 2297.899 us (Expected < 1666.667 us) --> Read time : 221.040 us, Update time : 1455.142 us, Write time : 621.717 us[0m ×2 + 43.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.267917 ms (missed cycles : 6). + 43.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.267917 ms (missed cycles : 6).[0m ×2 + 44.08sINFOros2_control_node[2026-06-11 18:46:09.677] [info] Received new action goal ×2 + 44.08sINFOros2_control_node[2026-06-11 18:46:09.677] [info] Accepted new action goal ×2 + 44.21sWARNcontroller_managerOverrun might occur, Total time : 2863.905 us (Expected < 1666.667 us) --> Read time : 242.740 us, Update time : 109.594 us, Write time : 2511.571 us + 44.22sWARNros2_control_nodeOverrun might occur, Total time : 2863.905 us (Expected < 1666.667 us) --> Read time : 242.740 us, Update time : 109.594 us, Write time : 2511.571 us[0m ×2 + 44.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448306 ms (missed cycles : 6). + 44.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448306 ms (missed cycles : 6).[0m ×2 + 45.24sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1781203570.83445883 seconds ×3 + 45.27sWARNcontroller_managerOverrun might occur, Total time : 3572.334 us (Expected < 1666.667 us) --> Read time : 2884.126 us, Update time : 55.002 us, Write time : 633.206 us + 45.27sWARNros2_control_nodeOverrun might occur, Total time : 3572.334 us (Expected < 1666.667 us) --> Read time : 2884.126 us, Update time : 55.002 us, Write time : 633.206 us[0m ×2 + 45.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110608 ms (missed cycles : 3). + 45.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110608 ms (missed cycles : 3).[0m ×2 + 46.00sINFOobjective_server_nodeObjective `Push Button` starting at time: 1781203571.59304714 seconds. ×3 + 46.41sWARNcontroller_managerOverrun might occur, Total time : 12145.607 us (Expected < 1666.667 us) --> Read time : 283.211 us, Update time : 11395.157 us, Write time : 467.239 us + 46.41sWARNros2_control_nodeOverrun might occur, Total time : 12145.607 us (Expected < 1666.667 us) --> Read time : 283.211 us, Update time : 11395.157 us, Write time : 467.239 us[0m ×2 + 46.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.608369 ms (missed cycles : 5). + 46.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.608369 ms (missed cycles : 5).[0m ×2 + 47.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 47.27sINFOros2_control_node[2026-06-11 18:46:12.868] [info] Received new action goal ×2 + 47.27sINFOros2_control_node[2026-06-11 18:46:12.868] [info] Accepted new action goal ×2 + 47.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668324 ms (missed cycles : 2). + 47.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668324 ms (missed cycles : 2).[0m ×2 + 47.59sWARNcontroller_managerOverrun might occur, Total time : 1813.773 us (Expected < 1666.667 us) --> Read time : 748.910 us, Update time : 74.593 us, Write time : 990.270 us + 47.60sWARNros2_control_nodeOverrun might occur, Total time : 1813.773 us (Expected < 1666.667 us) --> Read time : 748.910 us, Update time : 74.593 us, Write time : 990.270 us[0m ×2 + 48.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813330 ms (missed cycles : 2). + 48.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813330 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 30.4s | 3603 errors · 210 warnings · 11087 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2423 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000312463401 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4846 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000312463401[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000356333105 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000356333105[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000284545089 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000284545089[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000486095171 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000486095171[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002031575778 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002031575778[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000359409563 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000359409563[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000356360129 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000356360129[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000241837969 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000241837969[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000459307067 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000459307067[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001447597922 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001447597922[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000420416089 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000420416089[0m ×2 + 0.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000321249887 + 0.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000321249887[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000279365491 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000279365491[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000163143535 + 0.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000163143535[0m ×2 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001823902110 + 0.15sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001823902110[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000561780956 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000561780956[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002236899983 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002236899983[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000253540312 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000253540312[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000307871083 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000307871083[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001390758932 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001390758932[0m ×2 + 0.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000245190097 + 0.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000245190097[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000221570506 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000221570506[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000162950789 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000162950789[0m ×2 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000450552076 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000450552076[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137007318 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137007318[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000308279070 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000308279070[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000120613371 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000120613371[0m ×2 + 0.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000207305369 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000207305369[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000368923487 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000368923487[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000185941671 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000185941671[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131503497 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131503497[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000346255498 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000346255498[0m ×2 + 0.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001894795752 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001894795752[0m ×2 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000250556338 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000250556338[0m ×2 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000348853709 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000348853709[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000166984687 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000166984687[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001438580207 + 0.36sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001438580207[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000257530863 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000257530863[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001266343986 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001266343986[0m ×2 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000418027058 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000418027058[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001835192873 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001835192873[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591578 ms (missed cycles : 3). + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000268318991 + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591578 ms (missed cycles : 3).[0m ×2 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000268318991[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001822542138 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001822542138[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131486682 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131486682[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000295131086 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000295131086[0m ×2 + 0.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001448742599 + 0.45sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001448742599[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000925911479 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000925911479[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000261487989 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000261487989[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001135552250 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001135552250[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001321798726 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001321798726[0m ×2 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000193675780 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000193675780[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001130177420 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001130177420[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000178857720 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000178857720[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000286912815 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000286912815[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001103457801 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001103457801[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000957834552 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000957834552[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000256181050 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000256181050[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001180930454 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001180930454[0m ×2 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000161546013 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000161546013[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000190066851 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000190066851[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001467149641 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001467149641[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000164044886 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000164044886[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002053180766 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002053180766[0m ×2 + 0.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001631670345 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001631670345[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000189363282 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000189363282[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001456945961 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001456945961[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001480410641 + 0.64sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001480410641[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000143345878 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000143345878[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000323528658 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000323528658[0m ×2 + 0.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000856749394 + 0.68sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000856749394[0m ×2 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000742662020 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000742662020[0m ×2 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000153372985 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000153372985[0m ×2 + 0.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001342809188 + 0.70sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001342809188[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001133355249 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001133355249[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000126213309 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000126213309[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001277633655 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001277633655[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001346381514 + 0.74sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001346381514[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000165585094 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000165585094[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001217879733 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001217879733[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001249527492 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001249527492[0m ×2 + 0.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000182220816 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000182220816[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000146656163 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000146656163[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001188861893 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001188861893[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000978575724 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000978575724[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001029083284 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001029083284[0m ×2 + 0.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000213431781 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000213431781[0m ×2 + 0.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000810062885 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000810062885[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000824562600 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000824562600[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000689485972 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000689485972[0m ×2 + 0.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001045726071 + 0.90sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001045726071[0m ×2 + 0.90sWARNcontroller_managerOverrun might occur, Total time : 2166.812 us (Expected < 1666.667 us) --> Read time : 262.841 us, Update time : 92.364 us, Write time : 1811.607 us + 0.90sWARNros2_control_nodeOverrun might occur, Total time : 2166.812 us (Expected < 1666.667 us) --> Read time : 262.841 us, Update time : 92.364 us, Write time : 1811.607 us[0m ×2 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000124663091 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000124663091[0m ×2 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000558186796 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000558186796[0m ×2 + 0.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000569415251 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000569415251[0m ×2 + 0.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000468280811 + 0.93sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000468280811[0m ×2 + 0.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000437542981 + 0.94sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000437542981[0m ×2 + 0.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000890632030 + 0.95sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000890632030[0m ×2 + 0.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000711941688 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000711941688[0m ×2 + 0.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000718778634 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000718778634[0m ×2 + 0.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000575861662 + 0.98sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000575861662[0m ×2 + 0.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000462768491 + 0.98sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000462768491[0m ×2 + 0.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000377304167 + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000377304167[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000333445848 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000333445848[0m ×2 + 1.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000724130328 + 1.01sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000724130328[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000143062993 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000143062993[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000709866441 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000709866441[0m ×2 + 1.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000709866827 + 1.03sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000709866827[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000564551709 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000564551709[0m ×2 + 1.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000449100980 ×2 + 1.05sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000449100980[0m ×4 + 1.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000357310847 + 1.08sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000357310847[0m ×2 + 1.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000284290913 + 1.09sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000284290913[0m ×2 + 1.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000143102583 + 1.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000143102583[0m ×2 + 1.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000128251835 + 1.11sERRORros2_control_nodeVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000128251835[0m ×2 + 1.11sINFOjoint_trajectory_controllerAccepted new action goal ×1222 + 1.11sINFOros2_control_nodeAccepted new action goal[0m ×2444 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997193 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997193 ms (missed cycles : 2).[0m ×2 + 1.90sWARNcontroller_managerOverrun might occur, Total time : 1992.154 us (Expected < 1666.667 us) --> Read time : 776.233 us, Update time : 100.924 us, Write time : 1114.997 us + 1.90sWARNros2_control_nodeOverrun might occur, Total time : 1992.154 us (Expected < 1666.667 us) --> Read time : 776.233 us, Update time : 100.924 us, Write time : 1114.997 us[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776686 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776686 ms (missed cycles : 2).[0m ×2 + 2.91sWARNcontroller_managerOverrun might occur, Total time : 2076.898 us (Expected < 1666.667 us) --> Read time : 214.099 us, Update time : 848.876 us, Write time : 1013.923 us + 2.91sWARNros2_control_nodeOverrun might occur, Total time : 2076.898 us (Expected < 1666.667 us) --> Read time : 214.099 us, Update time : 848.876 us, Write time : 1013.923 us[0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376088 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376088 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781203649.87430382 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.00sWARNcontroller_managerOverrun might occur, Total time : 3875.254 us (Expected < 1666.667 us) --> Read time : 304.533 us, Update time : 3104.401 us, Write time : 466.320 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 3875.254 us (Expected < 1666.667 us) --> Read time : 304.533 us, Update time : 3104.401 us, Write time : 466.320 us[0m ×2 + 4.25sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1781203650.49731302 seconds. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.46sINFOros2_control_node[2026-06-11 18:47:30.711] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-06-11 18:47:30.711] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368145 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368145 ms (missed cycles : 3).[0m ×2 + 5.08sWARNcontroller_managerOverrun might occur, Total time : 2157.242 us (Expected < 1666.667 us) --> Read time : 371.566 us, Update time : 788.903 us, Write time : 996.773 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 2157.242 us (Expected < 1666.667 us) --> Read time : 371.566 us, Update time : 788.903 us, Write time : 996.773 us[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137677 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137677 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun might occur, Total time : 8859.796 us (Expected < 1666.667 us) --> Read time : 211.599 us, Update time : 8191.607 us, Write time : 456.590 us + 6.15sWARNros2_control_nodeOverrun might occur, Total time : 8859.796 us (Expected < 1666.667 us) --> Read time : 211.599 us, Update time : 8191.607 us, Write time : 456.590 us[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656451 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656451 ms (missed cycles : 5).[0m ×2 + 7.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 7.37sINFOros2_control_node[2026-06-11 18:47:33.615] [info] Received new action goal ×2 + 7.37sINFOros2_control_node[2026-06-11 18:47:33.615] [info] Accepted new action goal ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735493 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735493 ms (missed cycles : 3).[0m ×2 + 8.14sWARNcontroller_managerOverrun might occur, Total time : 3998.450 us (Expected < 1666.667 us) --> Read time : 243.440 us, Update time : 3157.524 us, Write time : 597.486 us + 8.15sWARNros2_control_nodeOverrun might occur, Total time : 3998.450 us (Expected < 1666.667 us) --> Read time : 243.440 us, Update time : 3157.524 us, Write time : 597.486 us[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323860 ms (missed cycles : 3). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323860 ms (missed cycles : 3).[0m ×2 + 9.24sWARNcontroller_managerOverrun might occur, Total time : 7313.850 us (Expected < 1666.667 us) --> Read time : 220.639 us, Update time : 6517.766 us, Write time : 575.445 us + 9.25sWARNros2_control_nodeOverrun might occur, Total time : 7313.850 us (Expected < 1666.667 us) --> Read time : 220.639 us, Update time : 6517.766 us, Write time : 575.445 us[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.762622 ms (missed cycles : 5). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.762622 ms (missed cycles : 5).[0m ×2 + 9.97sINFOros2_control_node[2026-06-11 18:47:36.219] [info] Received new action goal ×2 + 9.97sINFOros2_control_node[2026-06-11 18:47:36.220] [info] Accepted new action goal ×2 + 10.58sWARNcontroller_managerOverrun might occur, Total time : 2674.963 us (Expected < 1666.667 us) --> Read time : 304.413 us, Update time : 114.745 us, Write time : 2255.805 us + 10.58sWARNros2_control_nodeOverrun might occur, Total time : 2674.963 us (Expected < 1666.667 us) --> Read time : 304.413 us, Update time : 114.745 us, Write time : 2255.805 us[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389108 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389108 ms (missed cycles : 3).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.722018 ms (missed cycles : 8). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.722018 ms (missed cycles : 8).[0m ×2 + 11.73sWARNcontroller_managerOverrun might occur, Total time : 3991.040 us (Expected < 1666.667 us) --> Read time : 210.359 us, Update time : 3225.437 us, Write time : 555.244 us + 11.74sWARNros2_control_nodeOverrun might occur, Total time : 3991.040 us (Expected < 1666.667 us) --> Read time : 210.359 us, Update time : 3225.437 us, Write time : 555.244 us[0m ×2 + 12.74sWARNcontroller_managerOverrun might occur, Total time : 10014.644 us (Expected < 1666.667 us) --> Read time : 239.260 us, Update time : 9247.442 us, Write time : 527.942 us + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.269895 ms (missed cycles : 7). + 12.74sWARNros2_control_nodeOverrun might occur, Total time : 10014.644 us (Expected < 1666.667 us) --> Read time : 239.260 us, Update time : 9247.442 us, Write time : 527.942 us[0m ×2 + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.269895 ms (missed cycles : 7).[0m ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814157 ms (missed cycles : 2). + 13.75sWARNcontroller_managerOverrun might occur, Total time : 2158.532 us (Expected < 1666.667 us) --> Read time : 802.154 us, Update time : 58.463 us, Write time : 1297.915 us + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814157 ms (missed cycles : 2).[0m ×2 + 13.75sWARNros2_control_nodeOverrun might occur, Total time : 2158.532 us (Expected < 1666.667 us) --> Read time : 802.154 us, Update time : 58.463 us, Write time : 1297.915 us[0m ×2 + 13.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 14.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 14.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 14.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 14.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 14.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 14.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 14.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 14.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 14.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878058 ms (missed cycles : 2). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878058 ms (missed cycles : 2).[0m ×2 + 14.83sWARNcontroller_managerOverrun might occur, Total time : 1875.809 us (Expected < 1666.667 us) --> Read time : 340.064 us, Update time : 807.275 us, Write time : 728.470 us + 14.84sWARNros2_control_nodeOverrun might occur, Total time : 1875.809 us (Expected < 1666.667 us) --> Read time : 340.064 us, Update time : 807.275 us, Write time : 728.470 us[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951007 ms (missed cycles : 6). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951007 ms (missed cycles : 6).[0m ×2 + 15.92sWARNcontroller_managerOverrun might occur, Total time : 2172.982 us (Expected < 1666.667 us) --> Read time : 215.389 us, Update time : 1513.675 us, Write time : 443.918 us + 15.92sWARNros2_control_nodeOverrun might occur, Total time : 2172.982 us (Expected < 1666.667 us) --> Read time : 215.389 us, Update time : 1513.675 us, Write time : 443.918 us[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525654001849 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525654001849[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002091173601194 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002091173601194[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002788402718309 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002788402718309[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003188215797323 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003188215797323[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013797641395 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013797641395[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003912728877239 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003912728877239[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002700226176415 + 16.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002700226176415[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003525879666621 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003525879666621[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004798549388992 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004798549388992[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005574755588928 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005574755588928[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004720495828566 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004720495828566[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004962319625731 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004962319625731[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280624891577 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280624891577[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827322603709 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827322603709[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003542107153190 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003542107153190[0m ×2 + 16.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003375217563189 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003375217563189[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003585927877599 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003585927877599[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827884165730 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827884165730[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003644785452501 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003644785452501[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003519260332252 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003519260332252[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345571280942 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345571280942[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003956167604476 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003956167604476[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691253249336 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691253249336[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003519274293704 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003519274293704[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345800239799 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345800239799[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003933116253932 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003933116253932[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003659452496216 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003659452496216[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004106819298044 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004106819298044[0m ×2 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003768167225841 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003768167225841[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550859866812 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550859866812[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003682091962532 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003682091962532[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003560216732832 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003560216732832[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003475377296553 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003475377296553[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004714397116905 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004714397116905[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752788766980 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752788766980[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004220123149645 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004220123149645[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003852546534774 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003852546534774[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003610022637508 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003610022637508[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004057738927712 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004057738927712[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739437077623 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739437077623[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003534868757657 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003534868757657[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003410978666272 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003410978666272[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003341866517327 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003341866517327[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169405290703 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169405290703[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827864923699 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827864923699[0m ×2 + 16.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003601492607268 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003601492607268[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003458862256917 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003458862256917[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003665723612740 + 16.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003665723612740[0m ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405672 ms (missed cycles : 2). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405672 ms (missed cycles : 2).[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004855462095734 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004855462095734[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239702725684 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239702725684[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687739550387 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687739550387[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004173274729779 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004173274729779[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003819083199918 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003819083199918[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267160422987 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267160422987[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003216707716604 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003216707716604[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004598333585811 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004598333585811[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004161636340313 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004161636340313[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989800876333 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989800876333[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004366781333304 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004366781333304[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003934665738389 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003934665738389[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648141826387 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648141826387[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004476378467683 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004476378467683[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003987737450081 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003987737450081[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003667186981212 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003667186981212[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003468126839956 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003468126839956[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004296433557896 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004296433557896[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873002191779 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873002191779[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003768730535070 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003768730535070[0m ×2 + 16.95sWARNcontroller_managerOverrun might occur, Total time : 2040.657 us (Expected < 1666.667 us) --> Read time : 1460.442 us, Update time : 93.594 us, Write time : 486.621 us + 16.95sWARNros2_control_nodeOverrun might occur, Total time : 2040.657 us (Expected < 1666.667 us) --> Read time : 1460.442 us, Update time : 93.594 us, Write time : 486.621 us[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004217027019100 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004217027019100[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868767910404 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868767910404[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003632840669734 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003632840669734[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004778141606024 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004778141606024[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004849193207224 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004849193207224[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245760847374 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245760847374[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837704710949 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837704710949[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004286032311329 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004286032311329[0m ×2 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003855952849943 + 17.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003855952849943[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003579830157889 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003579830157889[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408295944453 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408295944453[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003932643947472 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003932643947472[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003105342842271 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003105342842271[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003348007960606 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003348007960606[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004680450209994 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004680450209994[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004207643234244 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004207643234244[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005166364905786 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005166364905786[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005237425053876 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005237425053876[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493251673064 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493251673064[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984017346591 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984017346591[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432378490016 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432378490016[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003932688870103 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003932688870103[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003611106592216 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003611106592216[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003645799723918 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003645799723918[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004804681987742 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004804681987742[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005047310162577 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005047310162577[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381728093431 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381728093431[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003925067373616 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003925067373616[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625744570036 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625744570036[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004737945601421 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004737945601421[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004146491336676 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004146491336676[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594786954055 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594786954055[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004009381192553 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004009381192553[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004997174174046 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004997174174046[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313347984655 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313347984655[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854942318571 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854942318571[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004683218242139 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004683218242139[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081708746384 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081708746384[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691252479068 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691252479068[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004519466853459 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004519466853459[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003971022283665 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003971022283665[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003620093071884 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003620093071884[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004448242737613 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004448242737613[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927930835297 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927930835297[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003596118116705 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003596118116705[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004424198958035 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004424198958035[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003916193454931 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003916193454931[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003591792796290 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003591792796290[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004419799511347 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004419799511347[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915832830633 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915832830633[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003593278083194 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003593278083194[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004421204540336 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004421204540336[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177742697270 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177742697270[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544556356720 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544556356720[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005398934007642 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005398934007642[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005641347381436 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005641347381436[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004751288808094 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004751288808094[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003252159080777 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003252159080777[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004577915078897 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004577915078897[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005405854395871 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005405854395871[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590917399584 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590917399584[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005418322155718 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005418322155718[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004548486566913 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004548486566913[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003964946768589 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003964946768589[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792206613335 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792206613335[0m ×2 + 17.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110966182185 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110966182185[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003673223334317 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003673223334317[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004500342205166 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004500342205166[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003926708724216 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003926708724216[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004860629802145 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004860629802145[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931553396983 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931553396983[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004207298778940 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004207298778940[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654766186723 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654766186723[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003153367031364 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003153367031364[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496772150116 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496772150116[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005342143572583 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005342143572583[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004543546632139 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004543546632139[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005290676080411 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005290676080411[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005421644502277 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005421644502277[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529660090024 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529660090024[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004976816577935 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004976816577935[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004215942160210 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004215942160210[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003724496186521 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003724496186521[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004719861334437 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004719861334437[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004961762558010 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004961762558010[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219734201693 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219734201693[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003737831374906 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003737831374906[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004563667091097 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004563667091097[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003959227342985 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003959227342985[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870240405819 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870240405819[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004159216011468 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004159216011468[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004993024445832 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004993024445832[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004228933885247 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004228933885247[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003734372828907 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003734372828907[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004559579330126 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004559579330126[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003948749813602 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003948749813602[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004856145912047 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004856145912047[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005097737054421 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005097737054421[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004296000592391 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004296000592391[0m ×2 + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567705 ms (missed cycles : 5). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567705 ms (missed cycles : 5).[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003774247860439 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003774247860439[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003609607098675 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003609607098675[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004723048119553 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004723048119553[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005547519344163 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005547519344163[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646236985811 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646236985811[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005324084221056 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005324084221056[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004441849749893 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004441849749893[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005151599717941 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005151599717941[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004305225370096 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004305225370096[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048254288850 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048254288850[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005118893920061 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005118893920061[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275016294930 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275016294930[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005022368192668 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005022368192668[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004210400295004 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004210400295004[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004980799097638 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004980799097638[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004185430106440 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004185430106440[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003710707791309 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003710707791309[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533473395563 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533473395563[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005260238970242 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005260238970242[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004410727959734 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004410727959734[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005233132436530 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005233132436530[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004362305300016 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004362305300016[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005082339258743 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005082339258743[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004249100339246 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004249100339246[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005071018910272 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005071018910272[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004226347339744 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004226347339744[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004973994592888 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004973994592888[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005214593444505 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005214593444505[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004317726305987 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004317726305987[0m ×2 + 18.03sWARNcontroller_managerOverrun might occur, Total time : 4083.083 us (Expected < 1666.667 us) --> Read time : 245.210 us, Update time : 3210.897 us, Write time : 626.976 us + 18.04sWARNros2_control_nodeOverrun might occur, Total time : 4083.083 us (Expected < 1666.667 us) --> Read time : 245.210 us, Update time : 3210.897 us, Write time : 626.976 us[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005027879032332 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005027879032332[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004582228811 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004582228811[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887765176767 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887765176767[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005445708468060 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005445708468060[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489082682325 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489082682325[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005309515397523 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005309515397523[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004373642919744 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004373642919744[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005054081879005 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005054081879005[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004203943681904 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004203943681904[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005023827741316 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005023827741316[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004174145516667 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004174145516667[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004919877306632 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004919877306632[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004118455523596 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004118455523596[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004894254477198 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004894254477198[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005337525367101 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005337525367101[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387934359782 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387934359782[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005056857302888 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005056857302888[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005296621521621 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005296621521621[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004080112979638 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004080112979638[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003687205899672 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003687205899672[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004727474959791 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004727474959791[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005378160681157 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005378160681157[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005756219926414 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005756219926414[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005995625530945 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005995625530945[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004820922896116 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004820922896116[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003047201618448 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003047201618448[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350309709617 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350309709617[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174653299660 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174653299660[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005661224786693 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005661224786693[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006477497335448 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006477497335448[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150784436486 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150784436486[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005530908997002 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005530908997002[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005749696695433 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005749696695433[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005878937872823 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005878937872823[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004664827344809 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004664827344809[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156478093939 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156478093939[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005474776284290 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005474776284290[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004392589200899 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004392589200899[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005207118619064 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005207118619064[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213843476482 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213843476482[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004868135367379 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004868135367379[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005301893544949 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005301893544949[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005430859524491 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005430859524491[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379740070235 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379740070235[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004984432270175 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004984432270175[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005424538843033 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005424538843033[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379415196273 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379415196273[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004986002975570 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004986002975570[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005425836445933 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005425836445933[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004050771350223 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004050771350223[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004837853404368 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004837853404368[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005339995695038 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005339995695038[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005639491457790 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005639491457790[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005877153464856 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005877153464856[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004678067250932 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004678067250932[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005167094663815 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005167094663815[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005477919533954 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005477919533954[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005715337331699 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005715337331699[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004540525197423 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004540525197423[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005055644167105 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005055644167105[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005494069981899 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005494069981899[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005664827647523 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005664827647523[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072980524495 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072980524495[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808139978870 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808139978870[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005283165698557 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005283165698557[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006091977456340 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006091977456340[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808279157557 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808279157557[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005232879982175 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005232879982175[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006041077381387 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006041077381387[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004737330523572 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004737330523572[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712284704742 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712284704742[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005204529935173 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005204529935173[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005532794039222 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005532794039222[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005715342469512 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005715342469512[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005802215074626 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005802215074626[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005829903075280 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005829903075280[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005899035959656 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005899035959656[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004604198488209 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004604198488209[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005039401706600 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005039401706600[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005844862762287 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005844862762287[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004570077698364 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004570077698364[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005018243292445 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005018243292445[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005317491757934 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005317491757934[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005752840383227 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005752840383227[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005777711952836 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005777711952836[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004514727352789 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004514727352789[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005318550964295 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005318550964295[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005472690079301 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005472690079301[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005568956648747 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005568956648747[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005696225400050 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005696225400050[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004445717718906 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004445717718906[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004915121315833 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004915121315833[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005717536306325 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005717536306325[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005733779305977 + 18.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093313 ms (missed cycles : 4). + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005733779305977[0m ×2 + 18.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093313 ms (missed cycles : 4).[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005728650312720 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005728650312720[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003989078716178 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003989078716178[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004688945870395 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004688945870395[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005149304090519 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005149304090519[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006628436264795 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006628436264795[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634024088083 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634024088083[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004037036153932 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004037036153932[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004926223768581 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004926223768581[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006402953903907 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006402953903907[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006369846154471 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006369846154471[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006259069228698 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006259069228698[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007734022181912 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007734022181912[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005787536824112 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005787536824112[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005733312573626 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005733312573626[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006530643937618 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006530643937618[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006177939878700 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006177939878700[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005924026080507 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005924026080507[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006157262434953 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006157262434953[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005894476030209 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005894476030209[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005718823087841 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005718823087841[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005844906649544 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005844906649544[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002868410167875 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002868410167875[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031094013860 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031094013860[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004794354615499 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004794354615499[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007565540089253 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007565540089253[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007585475413765 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007585475413765[0m ×2 + 19.07sWARNcontroller_managerOverrun might occur, Total time : 1668.171 us (Expected < 1666.667 us) --> Read time : 484.071 us, Update time : 105.784 us, Write time : 1078.316 us + 19.07sWARNros2_control_nodeOverrun might occur, Total time : 1668.171 us (Expected < 1666.667 us) --> Read time : 484.071 us, Update time : 105.784 us, Write time : 1078.316 us[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006976297438941 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006976297438941[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006497395922122 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006497395922122[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006729566792669 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006729566792669[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006282597792189 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006282597792189[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005963669732307 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005963669732307[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006195574441256 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006195574441256[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005890244299608 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005890244299608[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005687883379792 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005687883379792[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006115920224393 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006115920224393[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005826998161136 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005826998161136[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005639983696379 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005639983696379[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006072880109992 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006072880109992[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005887540782162 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005887540782162[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006314420973943 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006314420973943[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006010818822440 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006010818822440[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005793537026472 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005793537026472[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006219907724115 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006219907724115[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005909109630689 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005909109630689[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005698309312143 + 19.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005698309312143[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006124165276384 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006124165276384[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005826479446832 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005826479446832[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006117511603561 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006117511603561[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005893388006911 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005893388006911[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005726438990070 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005726438990070[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006511147523641 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006511147523641[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006411530905107 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006411530905107[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006065569543234 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006065569543234[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006848883569665 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006848883569665[0m ×2 + 19.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006300351568959 + 19.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006300351568959[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005917638104829 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005917638104829[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005662375544384 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005662375544384[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006444169773185 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006444169773185[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005986020552741 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005986020552741[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005683440146655 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005683440146655[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005494237089949 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005494237089949[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005384066376373 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005384066376373[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005326384861001 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005326384861001[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005301603922669 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005301603922669[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005295902578017 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005295902578017[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006734287482414 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006734287482414[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006192452913890 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006192452913890[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005819751945222 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005819751945222[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006596986472886 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006596986472886[0m ×2 + 19.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006057184030202 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006057184030202[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005699316947312 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005699316947312[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006475459067711 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006475459067711[0m ×2 + 19.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005955966226182 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005955966226182[0m ×2 + 19.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005618803074468 + 19.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005618803074468[0m ×2 + 19.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006393847496836 + 19.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006393847496836[0m ×2 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005893339666416 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005893339666416[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005571897495013 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005571897495013[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005872455610514 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005872455610514[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005670289068484 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005670289068484[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005525003847375 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005525003847375[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007659214172893 + 19.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007659214172893[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007669698754565 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007669698754565[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006748894698998 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006748894698998[0m ×2 + 19.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006110255725090 + 19.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006110255725090[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005687500667466 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005687500667466[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006457229354469 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006457229354469[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005899780945883 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005899780945883[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005541399774527 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005541399774527[0m ×2 + 19.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005325113981755 + 19.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005325113981755[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005205715505739 + 19.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005205715505739[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006624096888079 + 19.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006624096888079[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006027994666848 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006027994666848[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005633171685658 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005633171685658[0m ×2 + 19.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007049251150031 + 19.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007049251150031[0m ×2 + 19.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006339132944938 + 19.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006339132944938[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006142720033791 + 19.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006142720033791[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008004795990625 + 19.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008004795990625[0m ×2 + 19.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006917117158292 + 19.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006917117158292[0m ×2 + 19.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006164417800007 + 19.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006164417800007[0m ×2 + 19.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006926708518623 + 19.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006926708518623[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006139685808757 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006139685808757[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004810593824689 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004810593824689[0m ×2 + 19.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007235099761833 + 19.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007235099761833[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008725844114188 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008725844114188[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007369766390400 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007369766390400[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008128110653994 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008128110653994[0m ×2 + 19.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006891333113853 + 19.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006891333113853[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006057453096643 + 19.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006057453096643[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007456432982699 + 19.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007456432982699[0m ×2 + 19.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006390036030102 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006390036030102[0m ×2 + 19.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005699284851289 + 19.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005699284851289[0m ×2 + 19.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007095767849098 + 19.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007095767849098[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006128794694403 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006128794694403[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007522997235195 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007522997235195[0m ×2 + 19.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006485127637194 + 19.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006485127637194[0m ×2 + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438253 ms (missed cycles : 2). + 19.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005797097693162 + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438253 ms (missed cycles : 2).[0m ×2 + 19.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005797097693162[0m ×2 + 19.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007545574607080 + 19.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007545574607080[0m ×2 + 19.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007664799255472 + 19.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007664799255472[0m ×2 + 19.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006536483020977 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006536483020977[0m ×2 + 19.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005793734408648 + 19.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005793734408648[0m ×2 + 19.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007181636622118 + 19.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007181636622118[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006190700634210 + 19.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006190700634210[0m ×2 + 19.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005555973163247 + 19.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005555973163247[0m ×2 + 19.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006941353711868 + 19.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006941353711868[0m ×2 + 19.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006032234851855 + 19.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006032234851855[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007623909895038 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007623909895038[0m ×2 + 19.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006283429873183 + 19.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006283429873183[0m ×2 + 19.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007835784545647 + 19.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007835784545647[0m ×2 + 19.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006626378806416 + 19.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006626378806416[0m ×2 + 19.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005825026382217 + 19.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005825026382217[0m ×2 + 19.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007201438150132 + 19.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007201438150132[0m ×2 + 19.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006173832340045 + 19.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006173832340045[0m ×2 + 19.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007668764859786 + 19.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007668764859786[0m ×2 + 19.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007886401120315 + 19.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007886401120315[0m ×2 + 19.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006585568132041 + 19.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006585568132041[0m ×2 + 19.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005738226187943 + 19.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005738226187943[0m ×2 + 20.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007109141494067 + 20.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007109141494067[0m ×2 + 20.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005990195824711 + 20.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005990195824711[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007602631428156 + 20.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007602631428156[0m ×2 + 20.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006457066244051 + 20.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006457066244051[0m ×2 + 20.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007839731417499 + 20.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007839731417499[0m ×2 + 20.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008239188996027 + 20.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008239188996027[0m ×2 + 20.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006796917080827 + 20.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006796917080827[0m ×2 + 20.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007981529243711 + 20.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007981529243711[0m ×2 + 20.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006575451362286 + 20.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006575451362286[0m ×2 + 20.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007797257011283 + 20.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007797257011283[0m ×2 + 20.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006432949982231 + 20.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006432949982231[0m ×2 + 20.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007167227314157 + 20.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007167227314157[0m ×2 + 20.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005874482155739 + 20.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005874482155739[0m ×2 + 20.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007440338414482 + 20.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007440338414482[0m ×2 + 20.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008793186740069 + 20.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008793186740069[0m ×2 + 20.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007132769806430 + 20.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007132769806430[0m ×2 + 20.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008143033305580 + 20.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008143033305580[0m ×2 + 20.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008258773023513 + 20.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008258773023513[0m ×2 + 20.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006707377316004 + 20.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006707377316004[0m ×2 + 20.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007814591414405 + 20.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007814591414405[0m ×2 + 20.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008027981207106 + 20.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008027981207106[0m ×2 + 20.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006527810579352 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006527810579352[0m ×2 + 20.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007675190175956 + 20.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007675190175956[0m ×2 + 20.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008068606815302 + 20.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008068606815302[0m ×2 + 20.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006537935298594 + 20.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006537935298594[0m ×2 + 20.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007879962996020 + 20.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007879962996020[0m ×2 + 20.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006388183001390 + 20.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006388183001390[0m ×2 + 20.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007545579838805 + 20.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007545579838805[0m ×2 + 20.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007937605044519 + 20.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007937605044519[0m ×2 + 20.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006430258675659 + 20.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006430258675659[0m ×2 + 20.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007568500700316 + 20.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007568500700316[0m ×2 + 20.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007959606574736 + 20.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007959606574736[0m ×2 + 20.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006442191895524 + 20.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006442191895524[0m ×2 + 20.26sWARNcontroller_managerOverrun might occur, Total time : 8819.345 us (Expected < 1666.667 us) --> Read time : 355.876 us, Update time : 7833.022 us, Write time : 630.447 us + 20.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007567237245358 + 20.26sWARNros2_control_nodeOverrun might occur, Total time : 8819.345 us (Expected < 1666.667 us) --> Read time : 355.876 us, Update time : 7833.022 us, Write time : 630.447 us[0m ×2 + 20.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007567237245358[0m ×2 + 20.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005899186617689 + 20.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005899186617689[0m ×2 + 20.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007335918926696 + 20.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007335918926696[0m ×2 + 20.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008233708583844 + 20.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008233708583844[0m ×2 + 20.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008951602230911 + 20.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008951602230911[0m ×2 + 20.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007115309703763 + 20.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007115309703763[0m ×2 + 20.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429112457660 + 20.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429112457660[0m ×2 + 20.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006575473277471 + 20.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006575473277471[0m ×2 + 20.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007917389678733 + 20.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007917389678733[0m ×2 + 20.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008690705005824 + 20.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008690705005824[0m ×2 + 20.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010008170676235 + 20.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010008170676235[0m ×2 + 20.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009892239186664 + 20.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009892239186664[0m ×2 + 20.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007625489982851 + 20.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007625489982851[0m ×2 + 20.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008939252307252 + 20.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008939252307252[0m ×2 + 20.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008992348665699 + 20.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008992348665699[0m ×2 + 20.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006915696901440 + 20.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006915696901440[0m ×2 + 20.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008225758336879 + 20.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008225758336879[0m ×2 + 20.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008450629651272 + 20.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008450629651272[0m ×2 + 20.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006526781280146 + 20.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006526781280146[0m ×2 + 20.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007833165382873 + 20.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007833165382873[0m ×2 + 20.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008175250732044 + 20.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008175250732044[0m ×2 + 20.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005770421837233 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005770421837233[0m ×2 + 20.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005098988519283 + 20.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005098988519283[0m ×2 + 20.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007500607443184 + 20.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007500607443184[0m ×2 + 20.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008258569418790 + 20.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008258569418790[0m ×2 + 20.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008672414593735 + 20.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008672414593735[0m ×2 + 20.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008859144203472 + 20.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008859144203472[0m ×2 + 20.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009558933083652 + 20.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009558933083652[0m ×2 + 20.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009335467513795 + 20.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009335467513795[0m ×2 + 20.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009113161853519 + 20.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009113161853519[0m ×2 + 20.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009172984578195 + 20.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009172984578195[0m ×2 + 20.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006932573335624 + 20.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006932573335624[0m ×2 + 20.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007527140217257 + 20.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007527140217257[0m ×2 + 20.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008812702038094 + 20.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008812702038094[0m ×2 + 20.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008716591078998 + 20.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008716591078998[0m ×2 + 20.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008622960893574 + 20.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008622960893574[0m ×2 + 20.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008732840169578 + 20.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008732840169578[0m ×2 + 20.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008606893997328 + 20.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008606893997328[0m ×2 + 20.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008506581082296 + 20.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008506581082296[0m ×2 + 20.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008429070348182 + 20.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008429070348182[0m ×2 + 20.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008370357753119 + 20.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008370357753119[0m ×2 + 20.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008326251429420 + 20.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008326251429420[0m ×2 + 20.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008527691644489 + 20.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008527691644489[0m ×2 + 20.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008416729544391 + 20.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008416729544391[0m ×2 + 20.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008336795658746 + 20.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008336795658746[0m ×2 + 20.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008707825955838 + 20.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008707825955838[0m ×2 + 20.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008508059904819 + 20.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008508059904819[0m ×2 + 20.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008368096483409 + 20.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008368096483409[0m ×2 + 20.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008737901954586 + 20.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008737901954586[0m ×2 + 20.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008500100276649 + 20.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008500100276649[0m ×2 + 20.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009233934250671 + 20.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009233934250671[0m ×2 + 20.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008915935334989 + 20.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008915935334989[0m ×2 + 20.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009595035367636 + 20.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009595035367636[0m ×2 + 20.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009077521538166 + 20.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009077521538166[0m ×2 + 20.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009427797294352 + 20.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009427797294352[0m ×2 + 20.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009793548285559 + 20.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009793548285559[0m ×2 + 20.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009222045099220 + 20.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009222045099220[0m ×2 + 20.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008792560932682 + 20.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008792560932682[0m ×2 + 20.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008482215763905 + 20.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008482215763905[0m ×2 + 20.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009724791177612 + 20.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009724791177612[0m ×2 + 20.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009029060695588 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009029060695588[0m ×2 + 20.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008549660580631 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008549660580631[0m ×2 + 20.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008234063247837 + 20.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008234063247837[0m ×2 + 20.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008036957340557 + 20.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008036957340557[0m ×2 + 20.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007921669250169 + 20.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007921669250169[0m ×2 + 20.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007860014540900 + 20.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007860014540900[0m ×2 + 20.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007831322530329 + 20.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007831322530329[0m ×2 + 20.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007821120480705 + 20.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007821120480705[0m ×2 + 20.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007819774368870 + 20.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007819774368870[0m ×2 + 20.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010081067081453 + 20.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010081067081453[0m ×2 + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148150 ms (missed cycles : 2). + 20.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009208416128770 + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148150 ms (missed cycles : 2).[0m ×2 + 20.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009208416128770[0m ×2 + 20.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008599595934201 + 20.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008599595934201[0m ×2 + 20.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009818302769928 + 20.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009818302769928[0m ×2 + 20.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008940897114805 + 20.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008940897114805[0m ×2 + 20.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008354742032481 + 20.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008354742032481[0m ×2 + 20.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009568789149465 + 20.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009568789149465[0m ×2 + 20.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008727806979850 + 20.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008727806979850[0m ×2 + 20.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008180206351508 + 20.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008180206351508[0m ×2 + 20.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007111182341773 + 20.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007111182341773[0m ×2 + 20.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011062658326124 + 20.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011062658326124[0m ×2 + 20.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009965090946400 + 20.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009965090946400[0m ×2 + 20.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012182747917778 + 20.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012182747917778[0m ×2 + 20.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010495163005769 + 20.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010495163005769[0m ×2 + 20.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009296153010001 + 20.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009296153010001[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008482109515252 + 20.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008482109515252[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010686269333241 + 20.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010686269333241[0m ×2 + 20.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009307609244424 + 20.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009307609244424[0m ×2 + 21.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008394555258428 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008394555258428[0m ×2 + 21.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010589214260775 + 21.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010589214260775[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009196364011653 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009196364011653[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010379289605159 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010379289605159[0m ×2 + 21.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009121416422413 + 21.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009121416422413[0m ×2 + 21.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011700685934423 + 21.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011700685934423[0m ×2 + 21.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011755312916751 + 21.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011755312916751[0m ×2 + 21.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009884244587314 + 21.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009884244587314[0m ×2 + 21.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008638452217582 + 21.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008638452217582[0m ×2 + 21.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006732697895525 + 21.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006732697895525[0m ×2 + 21.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010499582102969 + 21.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010499582102969[0m ×2 + 21.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012790939050545 + 21.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012790939050545[0m ×2 + 21.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010690627559160 + 21.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010690627559160[0m ×2 + 21.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012833392883015 + 21.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012833392883015[0m ×2 + 21.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010532683914869 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010532683914869[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006951412337126 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006951412337126[0m ×2 + 21.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010436270659129 + 21.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010436270659129[0m ×2 + 21.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012561746727857 + 21.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012561746727857[0m ×2 + 21.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014678644685734 + 21.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014678644685734[0m ×2 + 21.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011716529417110 + 21.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011716529417110[0m ×2 + 21.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012973646812176 + 21.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012973646812176[0m ×2 + 21.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010342316444472 + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010342316444472[0m ×2 + 21.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011478907006787 + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011478907006787[0m ×2 + 21.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009307987882941 + 21.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009307987882941[0m ×2 + 21.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011212283291035 + 21.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011212283291035[0m ×2 + 21.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009126574441208 + 21.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009126574441208[0m ×2 + 21.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011075251714286 + 21.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011075251714286[0m ×2 + 21.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009036849721828 + 21.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009036849721828[0m ×2 + 21.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011111012094304 + 21.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011111012094304[0m ×2 + 21.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009019351350779 + 21.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009019351350779[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010944666601201 + 21.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010944666601201[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012150230191223 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012150230191223[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012476025280064 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012476025280064[0m ×2 + 21.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009821779800486 + 21.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009821779800486[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011329270083880 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011329270083880[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012435810776524 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012435810776524[0m ×2 + 21.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009734334534996 + 21.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009734334534996[0m ×2 + 21.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011203469443075 + 21.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011203469443075[0m ×2 + 21.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008409706281922 + 21.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008409706281922[0m ×2 + 21.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010548717251025 + 21.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010548717251025[0m ×2 + 21.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011876674978497 + 21.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011876674978497[0m ×2 + 21.37sWARNcontroller_managerOverrun might occur, Total time : 1725.403 us (Expected < 1666.667 us) --> Read time : 650.357 us, Update time : 95.295 us, Write time : 979.751 us + 21.37sWARNros2_control_nodeOverrun might occur, Total time : 1725.403 us (Expected < 1666.667 us) --> Read time : 650.357 us, Update time : 95.295 us, Write time : 979.751 us[0m ×2 + 21.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013889860146939 + 21.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013889860146939[0m ×2 + 21.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010705190160226 + 21.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010705190160226[0m ×2 + 21.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011748306421354 + 21.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011748306421354[0m ×2 + 21.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012353711074340 + 21.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012353711074340[0m ×2 + 21.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013432999024969 + 21.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013432999024969[0m ×2 + 21.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010194285700095 + 21.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010194285700095[0m ×2 + 21.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011227913189722 + 21.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011227913189722[0m ×2 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013210686703004 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013210686703004[0m ×2 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008784804080200 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008784804080200[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010441017086031 + 21.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010441017086031[0m ×2 + 21.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011486003954728 + 21.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011486003954728[0m ×2 + 21.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015109494305708 + 21.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015109494305708[0m ×2 + 21.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011230717086730 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011230717086730[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011743132963151 + 21.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011743132963151[0m ×2 + 21.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013690362872925 + 21.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013690362872925[0m ×2 + 21.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014397351389070 + 21.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014397351389070[0m ×2 + 21.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013683279798893 + 21.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013683279798893[0m ×2 + 21.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013096374022516 + 21.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013096374022516[0m ×2 + 21.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013122477396850 + 21.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013122477396850[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012650857092155 + 21.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012650857092155[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013592473222661 + 21.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013592473222661[0m ×2 + 21.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014149401523769 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014149401523769[0m ×2 + 21.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013357167322576 + 21.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013357167322576[0m ×2 + 21.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012740115513816 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012740115513816[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013293025759939 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013293025759939[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012613264035123 + 21.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012613264035123[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012125544864653 + 21.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012125544864653[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013139850560993 + 21.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013139850560993[0m ×2 + 21.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012403649790879 + 21.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012403649790879[0m ×2 + 21.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011898450827359 + 21.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011898450827359[0m ×2 + 21.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012905183533673 + 21.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012905183533673[0m ×2 + 21.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012176849212963 + 21.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012176849212963[0m ×2 + 21.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011690016131901 + 21.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011690016131901[0m ×2 + 21.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012689208233517 + 21.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012689208233517[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011985621104827 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011985621104827[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011522169575627 + 21.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011522169575627[0m ×2 + 21.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013354673432371 + 21.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013354673432371[0m ×2 + 21.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012343980301689 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012343980301689[0m ×2 + 21.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013331317639327 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013331317639327[0m ×2 + 21.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012268306444682 + 21.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012268306444682[0m ×2 + 21.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012618366050651 + 21.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012618366050651[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013023000415776 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013023000415776[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014816730482460 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014816730482460[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013429730420067 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013429730420067[0m ×2 + 21.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012407591297931 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012407591297931[0m ×2 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012649789281344 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012649789281344[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017082004835774 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017082004835774[0m ×2 + 21.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014231517376708 + 21.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014231517376708[0m ×2 + 21.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012688993679783 + 21.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012688993679783[0m ×2 + 21.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015901633686682 + 21.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015901633686682[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013577344463250 + 21.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013577344463250[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012000503536113 + 21.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012000503536113[0m ×2 + 21.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015183967742576 + 21.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015183967742576[0m ×2 + 21.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012915594314129 + 21.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012915594314129[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011428717627199 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011428717627199[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014583161673034 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014583161673034[0m ×2 + 21.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012424277747957 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012424277747957[0m ×2 + 21.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011037512869432 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011037512869432[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014163167960269 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014163167960269[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012099591911664 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012099591911664[0m ×2 + 21.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908671 ms (missed cycles : 2). + 21.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908671 ms (missed cycles : 2).[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015653552857754 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015653552857754[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009626798962741 + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009626798962741[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014531727444814 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014531727444814[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017579781780460 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017579781780460[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019319339972915 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019319339972915[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015324557090235 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015324557090235[0m ×2 + 21.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016954290380327 + 21.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016954290380327[0m ×2 + 21.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013588567381690 + 21.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013588567381690[0m ×2 + 21.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016069938093492 + 21.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016069938093492[0m ×2 + 21.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012859070131655 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012859070131655[0m ×2 + 21.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015824525479479 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015824525479479[0m ×2 + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012595673047281 + 21.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012595673047281[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015163896883362 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015163896883362[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016021952210950 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016021952210950[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012659290417686 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012659290417686[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015087215934855 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015087215934855[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011399205807247 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011399205807247[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014471949217319 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014471949217319[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019753494730274 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019753494730274[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015049795126714 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015049795126714[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016354126433030 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016354126433030[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017879597115235 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017879597115235[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013552306425819 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013552306425819[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016356561523470 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016356561523470[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012460945606476 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012460945606476[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014375969098793 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014375969098793[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018544897760610 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018544897760610[0m ×2 + 22.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018281430278921 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018281430278921[0m ×2 + 22.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019077235584328 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019077235584328[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014089043101245 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014089043101245[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017914989987267 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017914989987267[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019360400525094 + 22.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019360400525094[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018501442691516 + 22.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018501442691516[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017693056415208 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017693056415208[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016985776005794 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016985776005794[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017399879147263 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017399879147263[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016645125730194 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016645125730194[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016054202050608 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016054202050608[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015601990054922 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015601990054922[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015260337939749 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015260337939749[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016932250255008 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016932250255008[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016258054439561 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016258054439561[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020857823915909 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020857823915909[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018448383941079 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018448383941079[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016697488319046 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016697488319046[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018020873351365 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018020873351365[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016268518856152 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016268518856152[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015076307639770 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015076307639770[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014298831276512 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014298831276512[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018715775558387 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018715775558387[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016468561823333 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016468561823333[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017748580544732 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017748580544732[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015721708617328 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015721708617328[0m ×2 + 22.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015529369166844 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015529369166844[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015837459285727 + 22.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015837459285727[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021510112750406 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021510112750406[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025680072240107 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025680072240107[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020665760082137 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020665760082137[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017137379114765 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017137379114765[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019351665638963 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019351665638963[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016097075055427 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016097075055427[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020309287249720 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020309287249720[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020279501609981 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020279501609981[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016451813874113 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016451813874113[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013954933061979 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013954933061979[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018586565605406 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018586565605406[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015261676689251 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015261676689251[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019122325261573 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019122325261573[0m ×2 + 22.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015439622752944 + 22.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015439622752944[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019045798804971 + 22.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019045798804971[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021085831578510 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021085831578510[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016465253852925 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016465253852925[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024099700678149 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024099700678149[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018363021620590 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018363021620590[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024160950475582 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024160950475582[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018163371765977 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018163371765977[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019632719113454 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019632719113454[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023085526325705 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023085526325705[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016999169885448 + 22.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016999169885448[0m ×2 + 22.58sWARNcontroller_managerOverrun might occur, Total time : 5951.613 us (Expected < 1666.667 us) --> Read time : 244.151 us, Update time : 5138.898 us, Write time : 568.564 us + 22.58sWARNros2_control_nodeOverrun might occur, Total time : 5951.613 us (Expected < 1666.667 us) --> Read time : 244.151 us, Update time : 5138.898 us, Write time : 568.564 us[0m ×2 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022038641032711 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022038641032711[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023823110477035 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023823110477035[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022427203506743 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022427203506743[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024160423757242 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024160423757242[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017175215331572 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017175215331572[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017592578339833 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017592578339833[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017744469217285 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017744469217285[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017713156480441 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017713156480441[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017562385346732 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017562385346732[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017339247306988 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017339247306988[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017076931762125 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017076931762125[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025214439871642 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025214439871642[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025665840848076 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025665840848076[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021780700334845 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021780700334845[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018995537565209 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018995537565209[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017072621909044 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017072621909044[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019796306292205 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019796306292205[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017410377927665 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017410377927665[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015819591557977 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015819591557977[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020692004602456 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020692004602456[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017694182135366 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017694182135366[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023141539407274 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023141539407274[0m ×2 + 22.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018836583772267 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018836583772267[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016250612552632 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016250612552632[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024498759760858 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024498759760858[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019535332661013 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019535332661013[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022932243929156 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022932243929156[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017977751886445 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017977751886445[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022150287938699 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022150287938699[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017187329938889 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017187329938889[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020341514885924 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020341514885924[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022495900468359 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022495900468359[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017075966286184 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017075966286184[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019665145073102 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019665145073102[0m ×2 + 22.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130120 ms (missed cycles : 2). + 22.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130120 ms (missed cycles : 2).[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024873919884890 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024873919884890[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023971223516020 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023971223516020[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025886026437614 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025886026437614[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018458812789163 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018458812789163[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019003890633782 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019003890633782[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019089534643145 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019089534643145[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018873507657173 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018873507657173[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018473675503384 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018473675503384[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026959692649180 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026959692649180[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027432766968537 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027432766968537[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022292380940096 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022292380940096[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019329776759558 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019329776759558[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025096983081256 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025096983081256[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026521817827992 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026521817827992[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021093906707388 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021093906707388[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017317630915102 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017317630915102[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021896535084205 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021896535084205[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017467199993732 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017467199993732[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021369975011306 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021369975011306[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025570772889669 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025570772889669[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019118018961259 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019118018961259[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021077795254780 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021077795254780[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024924113604937 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024924113604937[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023900223868936 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023900223868936[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022537170754116 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022537170754116[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023084201282215 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023084201282215[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021370525999763 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021370525999763[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023145830742658 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023145830742658[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020760844490355 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020760844490355[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018770998159448 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018770998159448[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024233976820152 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024233976820152[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015192726117521 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015192726117521[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022465987730183 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022465987730183[0m ×2 + 23.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025672368672500 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025672368672500[0m ×2 + 23.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033321002049016 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033321002049016[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.041662185050187 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.041662185050187[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011877181849903 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011877181849903[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013629732840284 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013629732840284[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014284671056675 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014284671056675[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014214275168983 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014214275168983[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018681102690061 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018681102690061[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016165103171561 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016165103171561[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014053031644230 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014053031644230[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017760597413655 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017760597413655[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014400768177898 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014400768177898[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011922519497231 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011922519497231[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013595169221199 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013595169221199[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011092692389926 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011092692389926[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009349322078720 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009349322078720[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009772459623083 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009772459623083[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008423777463257 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008423777463257[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007539816193093 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007539816193093[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007789517096171 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007789517096171[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007275741965172 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007275741965172[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006878410441356 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006878410441356[0m ×2 + 23.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006573434622988 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006573434622988[0m ×2 + 23.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007574174079134 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007574174079134[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006910614343636 + 23.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006910614343636[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006424460754267 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006424460754267[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006069367039964 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006069367039964[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006937001901062 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006937001901062[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006319764139309 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006319764139309[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005882597458012 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005882597458012[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006682054502387 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006682054502387[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006042790740577 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006042790740577[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006265544865269 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006265544865269[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005735056752720 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005735056752720[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005364799423194 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005364799423194[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006082063680382 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006082063680382[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005761526880784 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005761526880784[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005358306985802 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005358306985802[0m ×2 + 23.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005066630170166 + 23.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005066630170166[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006701212358435 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006701212358435[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006729736450777 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006729736450777[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005826578080690 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005826578080690[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005191278495391 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005191278495391[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005781543076020 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005781543076020[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005114897987805 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005114897987805[0m ×2 + 23.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672105540546 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672105540546[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004628104386820 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004628104386820[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005958435185980 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005958435185980[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006479197809523 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006479197809523[0m ×2 + 23.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005506499091082 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005506499091082[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004742530084539 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004742530084539[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005748772786933 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005748772786933[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006632747760812 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006632747760812[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005470352888021 + 23.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005470352888021[0m ×2 + 23.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005995572765076 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005995572765076[0m ×2 + 23.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006131367231743 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006131367231743[0m ×2 + 23.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025287286762 + 23.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025287286762[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005559359022618 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005559359022618[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595769530562 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595769530562[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005181504225245 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005181504225245[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005591050434142 + 23.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005591050434142[0m ×2 + 23.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573511364213 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573511364213[0m ×2 + 23.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005063385633824 + 23.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005063385633824[0m ×2 + 23.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005325967842523 + 23.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005325967842523[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005432548394882 + 23.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005432548394882[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005430791608710 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005430791608710[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005625246126729 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005625246126729[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005481679832725 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005481679832725[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005321303774827 + 23.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005321303774827[0m ×2 + 23.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005504217616287 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005504217616287[0m ×2 + 23.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005269879236180 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005269879236180[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005061593743515 + 23.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005061593743515[0m ×2 + 23.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004879191477545 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004879191477545[0m ×2 + 23.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005450728384754 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005450728384754[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005066221516176 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005066221516176[0m ×2 + 23.76sWARNcontroller_managerOverrun might occur, Total time : 6864.130 us (Expected < 1666.667 us) --> Read time : 215.900 us, Update time : 57.832 us, Write time : 6590.398 us + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004771425505170 + 23.77sWARNros2_control_nodeOverrun might occur, Total time : 6864.130 us (Expected < 1666.667 us) --> Read time : 215.900 us, Update time : 57.832 us, Write time : 6590.398 us[0m ×2 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004771425505170[0m ×2 + 23.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536273727554 + 23.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536273727554[0m ×2 + 23.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004624533149473 + 23.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004624533149473[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005799560963283 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005799560963283[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005029238622093 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005029238622093[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005486309265047 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005486309265047[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004736075310187 + 23.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004736075310187[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005458275065179 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005458275065179[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004583935029406 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004583935029406[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005323645469063 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005323645469063[0m ×2 + 23.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428862145301 + 23.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428862145301[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004914678791444 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004914678791444[0m ×2 + 23.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063092 ms (missed cycles : 2). + 23.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063092 ms (missed cycles : 2).[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108724485307 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108724485307[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005110199886713 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005110199886713[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005422658869573 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005422658869573[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005179245109893 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005179245109893[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900684783432 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900684783432[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005181626787596 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005181626787596[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004780686063770 + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004780686063770[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432063748806 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432063748806[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003589237777049 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003589237777049[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004665532525456 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004665532525456[0m ×2 + 23.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005093703431024 + 23.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005093703431024[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005081586909112 + 23.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005081586909112[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005237212769103 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005237212769103[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129313591546 + 24.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129313591546[0m ×2 + 24.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357345182136 + 24.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357345182136[0m ×2 + 24.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002833264441759 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002833264441759[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002998806810516 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002998806810516[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004135314337842 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004135314337842[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003566174856971 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003566174856971[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003062430567904 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003062430567904[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002630630556840 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002630630556840[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318003323633 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318003323633[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002625770016662 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002625770016662[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002114261107465 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002114261107465[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001716986741478 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001716986741478[0m ×2 + 24.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001419811242581 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001419811242581[0m ×2 + 24.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001186808899216 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001186808899216[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001448729656596 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001448729656596[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001141056628148 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001141056628148[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000908253518300 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000908253518300[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001055123443785 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001055123443785[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000808707093163 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000808707093163[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000625996565302 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000625996565302[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000688681714787 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000688681714787[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000523722630661 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000523722630661[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000390690797825 + 24.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000390690797825[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000400538822027 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000400538822027[0m ×2 + 24.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000298717428355 + 24.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000298717428355[0m ×2 + 24.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000159399988310 + 24.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000159399988310[0m ×2 + 24.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000086014701055 + 24.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000086014701055[0m ×2 + 24.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000040764985156 + 24.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000040764985156[0m ×2 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012968797878 + 24.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012968797878[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010905806800 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010905806800[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030605184248 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030605184248[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093921995604 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093921995604[0m ×2 + 24.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082046538489 + 24.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082046538489[0m ×2 + 24.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080574860983 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080574860983[0m ×2 + 24.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000145364093445 + 24.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000145364093445[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061203105398 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061203105398[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077241645818 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077241645818[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000085339501608 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000085339501608[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094723052669 + 24.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094723052669[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000099479619992 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000099479619992[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162445036642 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162445036642[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137526911447 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137526911447[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122631641844 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122631641844[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000111432762108 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000111432762108[0m ×2 + 24.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000104948775540 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000104948775540[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100051008202 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100051008202[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096918674257 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096918674257[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094122851024 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094122851024[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000140894029762 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000140894029762[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000117418425835 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000117418425835[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101751570170 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101751570170[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000142141523429 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000142141523429[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000113299675437 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000113299675437[0m ×2 + 24.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094122669632 + 24.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094122669632[0m ×2 + 24.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000081339858571 + 24.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000081339858571[0m ×2 + 24.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115070664551 + 24.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115070664551[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091694312209 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091694312209[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076552432915 + 24.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076552432915[0m ×2 + 24.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000105469742695 + 24.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000105469742695[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082643627302 + 24.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082643627302[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067805599746 + 24.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067805599746[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092632884775 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092632884775[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071938395615 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071938395615[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094217638616 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094217638616[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070932970263 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070932970263[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056019463875 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056019463875[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046527281324 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046527281324[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027327223026 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027327223026[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030406956073 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030406956073[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031712515776 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031712515776[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046837067072 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046837067072[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016891686618 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016891686618[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022935580748 + 24.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022935580748[0m ×2 + 24.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025397149399 + 24.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025397149399[0m ×2 + 24.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036868327685 + 24.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036868327685[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031944611811 + 24.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031944611811[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027794244020 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027794244020[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037006540688 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037006540688[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029641781573 + 24.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029641781573[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024330782410 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024330782410[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032059653671 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032059653671[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024999522661 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024999522661[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020175498927 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020175498927[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026725829890 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026725829890[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020667047228 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020667047228[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016638276712 + 24.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016638276712[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009351614682 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009351614682[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007293068657 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007293068657[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008850973761 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008850973761[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013528050765 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013528050765[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012026099219 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012026099219[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010732866334 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010732866334[0m ×2 + 24.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014491813154 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014491813154[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011757875033 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011757875033[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009774022774 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009774022774[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012895952997 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012895952997[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010121832478 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010121832478[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008207991895 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008207991895[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010827892851 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010827892851[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008390088359 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008390088359[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010712704122 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010712704122[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008070862503 + 24.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008070862503[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006317109811 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006317109811[0m ×2 + 24.87sWARNcontroller_managerOverrun might occur, Total time : 8453.318 us (Expected < 1666.667 us) --> Read time : 380.866 us, Update time : 7413.274 us, Write time : 659.178 us + 24.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.776569 ms (missed cycles : 6). + 24.87sWARNros2_control_nodeOverrun might occur, Total time : 8453.318 us (Expected < 1666.667 us) --> Read time : 380.866 us, Update time : 7413.274 us, Write time : 659.178 us[0m ×2 + 24.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.776569 ms (missed cycles : 6).[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008280607277 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008280607277[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004007727019 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004007727019[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003720555954 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003720555954[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003532888496 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003532888496[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005068729959 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005068729959[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004198816929 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004198816929[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003582657758 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003582657758[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004837978778 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004837978778[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003842138753 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003842138753[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004937507012 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004937507012[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003773047137 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003773047137[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002987659451 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002987659451[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001658508087 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001658508087[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002533243311 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002533243311[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002171107863 + 24.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002171107863[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001902827346 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001902827346[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002606237429 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002606237429[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001395982116 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001395982116[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001342310724 + 25.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001342310724[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001921538400 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001921538400[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001599217371 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001599217371[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001366931821 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001366931821[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001200271552 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001200271552[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001639171343 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001639171343[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001318840860 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001318840860[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001094703736 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001094703736[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000941979095 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000941979095[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000834216903 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000834216903[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000531076672 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000531076672[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000578303526 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000578303526[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000860805251 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000860805251[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000745264869 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000745264869[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000654501558 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000654501558[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000881578740 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000881578740[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000710142578 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000710142578[0m ×2 + 25.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000587694048 + 25.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000587694048[0m ×2 + 25.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000775847512 + 25.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000775847512[0m ×2 + 25.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000607524075 + 25.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000607524075[0m ×2 + 25.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000492216149 + 25.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000492216149[0m ×2 + 25.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000649270404 + 25.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000649270404[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000502788706 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000502788706[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000194986544 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000194986544[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000233256718 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000233256718[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000358900204 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000358900204[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000316988931 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000316988931[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000282515472 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000282515472[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000381851509 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000381851509[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000309393762 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000309393762[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000257045528 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000257045528[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000220263179 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000220263179[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000297258352 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000297258352[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000236932555 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000236932555[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000195162316 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000195162316[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000167075622 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000167075622[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000147644056 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000147644056[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000134029368 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000134029368[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000187312723 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000187312723[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000153142379 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000153142379[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000129160481 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000129160481[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000601024636 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000601024636[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000573636722 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000573636722[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000546605456 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000546605456[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000520449697 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000520449697[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000600223624 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000600223624[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000556235352 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000556235352[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000425915875 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000425915875[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000336188834 + 25.46sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000336188834[0m ×2 + 25.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000329346942 + 25.47sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000329346942[0m ×2 + 25.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000387250609 + 25.47sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000387250609[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000365096778 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000365096778[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000344187482 + 25.49sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000344187482[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000393300738 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000393300738[0m ×2 + 25.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000361979132 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000361979132[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000333819302 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000333819302[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000308323299 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000308323299[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000285176690 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000285176690[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000264125061 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000264125061[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000244959943 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000244959943[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000276999417 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000276999417[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000252049452 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000252049452[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000230049340 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000230049340[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000256940162 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000256940162[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000231131771 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000231131771[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000208660640 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000208660640[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000231115437 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000231115437[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000206187128 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000206187128[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000184653533 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000184653533[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000203324158 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000203324158[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000180263403 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000180263403[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000121549666 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000121549666[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000119344497 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000119344497[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000122700281 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000122700281[0m ×2 + 25.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661485 ms (missed cycles : 3). + 25.96sWARNcontroller_managerOverrun might occur, Total time : 2275.206 us (Expected < 1666.667 us) --> Read time : 278.772 us, Update time : 105.034 us, Write time : 1891.400 us + 25.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661485 ms (missed cycles : 3).[0m ×2 + 25.96sWARNros2_control_nodeOverrun might occur, Total time : 2275.206 us (Expected < 1666.667 us) --> Read time : 278.772 us, Update time : 105.034 us, Write time : 1891.400 us[0m ×2 + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276842 ms (missed cycles : 3). + 26.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276842 ms (missed cycles : 3).[0m ×2 + 27.10sWARNcontroller_managerOverrun might occur, Total time : 3869.514 us (Expected < 1666.667 us) --> Read time : 703.869 us, Update time : 2601.361 us, Write time : 564.284 us + 27.10sWARNros2_control_nodeOverrun might occur, Total time : 3869.514 us (Expected < 1666.667 us) --> Read time : 703.869 us, Update time : 2601.361 us, Write time : 564.284 us[0m ×2 + 27.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531490 ms (missed cycles : 2). + 27.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531490 ms (missed cycles : 2).[0m ×2 + 28.15sWARNcontroller_managerOverrun might occur, Total time : 5475.832 us (Expected < 1666.667 us) --> Read time : 260.731 us, Update time : 4594.785 us, Write time : 620.316 us + 28.16sWARNros2_control_nodeOverrun might occur, Total time : 5475.832 us (Expected < 1666.667 us) --> Read time : 260.731 us, Update time : 4594.785 us, Write time : 620.316 us[0m ×2 + 29.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.089520 ms (missed cycles : 7). + 29.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.089520 ms (missed cycles : 7).[0m ×2 + 29.19sWARNcontroller_managerOverrun might occur, Total time : 2298.177 us (Expected < 1666.667 us) --> Read time : 254.941 us, Update time : 443.108 us, Write time : 1600.128 us + 29.19sWARNros2_control_nodeOverrun might occur, Total time : 2298.177 us (Expected < 1666.667 us) --> Read time : 254.941 us, Update time : 443.108 us, Write time : 1600.128 us[0m ×2 + 30.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691543 ms (missed cycles : 2). + 30.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691543 ms (missed cycles : 2).[0m ×2 + 30.27sWARNcontroller_managerOverrun might occur, Total time : 5967.753 us (Expected < 1666.667 us) --> Read time : 285.382 us, Update time : 83.944 us, Write time : 5598.427 us + 30.27sWARNros2_control_nodeOverrun might occur, Total time : 5967.753 us (Expected < 1666.667 us) --> Read time : 285.382 us, Update time : 83.944 us, Write time : 5598.427 us[0m ×2 + 31.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258445 ms (missed cycles : 2). + 31.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258445 ms (missed cycles : 2).[0m ×2 + 31.29sWARNcontroller_managerOverrun might occur, Total time : 5027.253 us (Expected < 1666.667 us) --> Read time : 248.230 us, Update time : 103.955 us, Write time : 4675.068 us + 31.29sWARNros2_control_nodeOverrun might occur, Total time : 5027.253 us (Expected < 1666.667 us) --> Read time : 248.230 us, Update time : 103.955 us, Write time : 4675.068 us[0m ×2 + 32.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395527 ms (missed cycles : 3). + 32.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395527 ms (missed cycles : 3).[0m ×2 + 32.65sWARNcontroller_managerOverrun might occur, Total time : 5387.399 us (Expected < 1666.667 us) --> Read time : 201.659 us, Update time : 4626.176 us, Write time : 559.564 us + 32.65sWARNros2_control_nodeOverrun might occur, Total time : 5387.399 us (Expected < 1666.667 us) --> Read time : 201.659 us, Update time : 4626.176 us, Write time : 559.564 us[0m ×2 + 33.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076491 ms (missed cycles : 5). + 33.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076491 ms (missed cycles : 5).[0m ×2 + 33.68sWARNcontroller_managerOverrun might occur, Total time : 2064.827 us (Expected < 1666.667 us) --> Read time : 1291.235 us, Update time : 99.164 us, Write time : 674.428 us + 33.69sWARNros2_control_nodeOverrun might occur, Total time : 2064.827 us (Expected < 1666.667 us) --> Read time : 1291.235 us, Update time : 99.164 us, Write time : 674.428 us[0m ×2 + 34.00sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1781203680.25354362 seconds ×3 + 34.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.498288 ms (missed cycles : 7). + 34.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.498288 ms (missed cycles : 7).[0m ×2 + 34.68sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1781203680.93272543 seconds. ×3 + 34.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 34.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 34.84sWARNcontroller_managerOverrun might occur, Total time : 2708.265 us (Expected < 1666.667 us) --> Read time : 211.519 us, Update time : 2034.226 us, Write time : 462.520 us + 34.84sWARNros2_control_nodeOverrun might occur, Total time : 2708.265 us (Expected < 1666.667 us) --> Read time : 211.519 us, Update time : 2034.226 us, Write time : 462.520 us[0m ×2 + 34.87sINFOobjective_server_nodeFound path in 5 iterations (0.00581629 s). ×2 + 34.92sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 34.93sINFOros2_control_node[2026-06-11 18:48:01.178] [info] Received new action goal ×2 + 34.93sINFOros2_control_node[2026-06-11 18:48:01.178] [info] Accepted new action goal ×2 + 35.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406014 ms (missed cycles : 3). + 35.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406014 ms (missed cycles : 3).[0m ×2 + 35.88sWARNcontroller_managerOverrun might occur, Total time : 2547.308 us (Expected < 1666.667 us) --> Read time : 225.800 us, Update time : 1886.530 us, Write time : 434.978 us + 35.89sWARNros2_control_nodeOverrun might occur, Total time : 2547.308 us (Expected < 1666.667 us) --> Read time : 225.800 us, Update time : 1886.530 us, Write time : 434.978 us[0m ×2 + 36.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141699 ms (missed cycles : 2). + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141699 ms (missed cycles : 2).[0m ×2 + 37.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312556 ms (missed cycles : 2). + 37.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312556 ms (missed cycles : 2).[0m ×2 + 37.33sWARNcontroller_managerOverrun might occur, Total time : 2431.763 us (Expected < 1666.667 us) --> Read time : 289.892 us, Update time : 76.673 us, Write time : 2065.198 us + 37.34sWARNros2_control_nodeOverrun might occur, Total time : 2431.763 us (Expected < 1666.667 us) --> Read time : 289.892 us, Update time : 76.673 us, Write time : 2065.198 us[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 29.2s | 201 warnings · 2710 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×414 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×414 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×828 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×828 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258445 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258445 ms (missed cycles : 2).[0m ×2 + 0.91sWARNcontroller_managerOverrun might occur, Total time : 5027.253 us (Expected < 1666.667 us) --> Read time : 248.230 us, Update time : 103.955 us, Write time : 4675.068 us + 0.92sWARNros2_control_nodeOverrun might occur, Total time : 5027.253 us (Expected < 1666.667 us) --> Read time : 248.230 us, Update time : 103.955 us, Write time : 4675.068 us[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395527 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395527 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 5387.399 us (Expected < 1666.667 us) --> Read time : 201.659 us, Update time : 4626.176 us, Write time : 559.564 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 5387.399 us (Expected < 1666.667 us) --> Read time : 201.659 us, Update time : 4626.176 us, Write time : 559.564 us[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076491 ms (missed cycles : 5). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076491 ms (missed cycles : 5).[0m ×2 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 2064.827 us (Expected < 1666.667 us) --> Read time : 1291.235 us, Update time : 99.164 us, Write time : 674.428 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 2064.827 us (Expected < 1666.667 us) --> Read time : 1291.235 us, Update time : 99.164 us, Write time : 674.428 us[0m ×2 + 3.63sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1781203680.25354362 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.498288 ms (missed cycles : 7). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.498288 ms (missed cycles : 7).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1781203680.93272543 seconds. ×3 + 4.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.39sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sWARNcontroller_managerOverrun might occur, Total time : 2708.265 us (Expected < 1666.667 us) --> Read time : 211.519 us, Update time : 2034.226 us, Write time : 462.520 us + 4.46sWARNros2_control_nodeOverrun might occur, Total time : 2708.265 us (Expected < 1666.667 us) --> Read time : 211.519 us, Update time : 2034.226 us, Write time : 462.520 us[0m ×2 + 4.49sINFOobjective_server_nodeFound path in 5 iterations (0.00581629 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.56sINFOros2_control_node[2026-06-11 18:48:01.178] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-06-11 18:48:01.178] [info] Accepted new action goal ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406014 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406014 ms (missed cycles : 3).[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2547.308 us (Expected < 1666.667 us) --> Read time : 225.800 us, Update time : 1886.530 us, Write time : 434.978 us + 5.52sWARNros2_control_nodeOverrun might occur, Total time : 2547.308 us (Expected < 1666.667 us) --> Read time : 225.800 us, Update time : 1886.530 us, Write time : 434.978 us[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141699 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141699 ms (missed cycles : 2).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312556 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312556 ms (missed cycles : 2).[0m ×2 + 6.96sWARNcontroller_managerOverrun might occur, Total time : 2431.763 us (Expected < 1666.667 us) --> Read time : 289.892 us, Update time : 76.673 us, Write time : 2065.198 us + 6.96sWARNros2_control_nodeOverrun might occur, Total time : 2431.763 us (Expected < 1666.667 us) --> Read time : 289.892 us, Update time : 76.673 us, Write time : 2065.198 us[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427558 ms (missed cycles : 3). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427558 ms (missed cycles : 3).[0m ×2 + 7.98sWARNcontroller_managerOverrun might occur, Total time : 5384.938 us (Expected < 1666.667 us) --> Read time : 338.235 us, Update time : 812.434 us, Write time : 4234.269 us + 7.98sWARNros2_control_nodeOverrun might occur, Total time : 5384.938 us (Expected < 1666.667 us) --> Read time : 338.235 us, Update time : 812.434 us, Write time : 4234.269 us[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999596 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999596 ms (missed cycles : 2).[0m ×2 + 9.32sWARNcontroller_managerOverrun might occur, Total time : 8483.059 us (Expected < 1666.667 us) --> Read time : 221.500 us, Update time : 7675.774 us, Write time : 585.785 us + 9.32sWARNros2_control_nodeOverrun might occur, Total time : 8483.059 us (Expected < 1666.667 us) --> Read time : 221.500 us, Update time : 7675.774 us, Write time : 585.785 us[0m ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289359 ms (missed cycles : 3). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289359 ms (missed cycles : 3).[0m ×2 + 10.51sWARNcontroller_managerOverrun might occur, Total time : 1989.654 us (Expected < 1666.667 us) --> Read time : 832.305 us, Update time : 96.064 us, Write time : 1061.285 us + 10.51sWARNros2_control_nodeOverrun might occur, Total time : 1989.654 us (Expected < 1666.667 us) --> Read time : 832.305 us, Update time : 96.064 us, Write time : 1061.285 us[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310444 ms (missed cycles : 3). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310444 ms (missed cycles : 3).[0m ×2 + 11.42sINFOros2_control_nodeMuJoCo sim: 1.47% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 11.71sWARNcontroller_managerOverrun might occur, Total time : 2154.582 us (Expected < 1666.667 us) --> Read time : 938.150 us, Update time : 59.123 us, Write time : 1157.309 us + 11.72sWARNros2_control_nodeOverrun might occur, Total time : 2154.582 us (Expected < 1666.667 us) --> Read time : 938.150 us, Update time : 59.123 us, Write time : 1157.309 us[0m ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.336713 ms (missed cycles : 6). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.336713 ms (missed cycles : 6).[0m ×2 + 12.69sINFOobjective_server_node[0;m[0;93m2026-06-11 18:48:09.311005633 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 12.69sINFOobjective_server_node[0;93m2026-06-11 18:48:09.311042285 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.80sWARNcontroller_managerOverrun might occur, Total time : 10120.817 us (Expected < 1666.667 us) --> Read time : 264.411 us, Update time : 54.742 us, Write time : 9801.664 us + 12.81sWARNros2_control_nodeOverrun might occur, Total time : 10120.817 us (Expected < 1666.667 us) --> Read time : 264.411 us, Update time : 54.742 us, Write time : 9801.664 us[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344272 ms (missed cycles : 3). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344272 ms (missed cycles : 3).[0m ×2 + 13.20sINFOobjective_server_node[0;93m2026-06-11 18:48:09.817523891 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 13.20sINFOobjective_server_node[0;93m2026-06-11 18:48:09.817593064 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.32sINFOobjective_server_node[0;93m2026-06-11 18:48:09.946180221 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 13.33sINFOobjective_server_node[0;93m2026-06-11 18:48:09.949031612 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 13.33sINFOobjective_server_node[0;93m2026-06-11 18:48:09.949077754 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.66sINFOobjective_server_node[0;93m2026-06-11 18:48:10.285328208 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 13.68sINFOobjective_server_node[0;93m2026-06-11 18:48:10.299742180 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 13.68sINFOobjective_server_node[0;93m2026-06-11 18:48:10.299785592 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.82sWARNcontroller_managerOverrun might occur, Total time : 8683.509 us (Expected < 1666.667 us) --> Read time : 281.102 us, Update time : 7836.403 us, Write time : 566.004 us + 13.82sWARNros2_control_nodeOverrun might occur, Total time : 8683.509 us (Expected < 1666.667 us) --> Read time : 281.102 us, Update time : 7836.403 us, Write time : 566.004 us[0m ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376767 ms (missed cycles : 3). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376767 ms (missed cycles : 3).[0m ×2 + 14.59sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.08sWARNcontroller_managerOverrun might occur, Total time : 4740.401 us (Expected < 1666.667 us) --> Read time : 233.470 us, Update time : 4016.661 us, Write time : 490.270 us + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998156 ms (missed cycles : 3). + 15.08sWARNros2_control_nodeOverrun might occur, Total time : 4740.401 us (Expected < 1666.667 us) --> Read time : 233.470 us, Update time : 4016.661 us, Write time : 490.270 us[0m ×2 + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998156 ms (missed cycles : 3).[0m ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340555 ms (missed cycles : 4). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340555 ms (missed cycles : 4).[0m ×2 + 16.13sWARNcontroller_managerOverrun might occur, Total time : 2182.933 us (Expected < 1666.667 us) --> Read time : 366.826 us, Update time : 55.472 us, Write time : 1760.635 us + 16.13sWARNros2_control_nodeOverrun might occur, Total time : 2182.933 us (Expected < 1666.667 us) --> Read time : 366.826 us, Update time : 55.472 us, Write time : 1760.635 us[0m ×2 + 17.18sWARNcontroller_managerOverrun might occur, Total time : 8285.890 us (Expected < 1666.667 us) --> Read time : 228.860 us, Update time : 68.783 us, Write time : 7988.247 us + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.582773 ms (missed cycles : 6). + 17.18sWARNros2_control_nodeOverrun might occur, Total time : 8285.890 us (Expected < 1666.667 us) --> Read time : 228.860 us, Update time : 68.783 us, Write time : 7988.247 us[0m ×2 + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.582773 ms (missed cycles : 6).[0m ×2 + 18.09sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 18.18sWARNcontroller_managerOverrun might occur, Total time : 8990.061 us (Expected < 1666.667 us) --> Read time : 249.800 us, Update time : 8182.017 us, Write time : 558.244 us + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.174407 ms (missed cycles : 6). + 18.18sWARNros2_control_nodeOverrun might occur, Total time : 8990.061 us (Expected < 1666.667 us) --> Read time : 249.800 us, Update time : 8182.017 us, Write time : 558.244 us[0m ×2 + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.174407 ms (missed cycles : 6).[0m ×2 + 18.44sINFOobjective_server_nodeFound path in 4 iterations (0.00243258 s). ×2 + 18.50sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 18.53sINFOobjective_server_nodeFound path in 12 iterations (0.00397261 s). ×2 + 18.59sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 18.62sINFOobjective_server_nodeFound path in 1 iterations (0.00278498 s). ×2 + 18.66sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] ×2 + 18.68sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 18.70sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 18.72sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 18.75sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×4 + 18.77sINFOobjective_server_nodeFound path in 8 iterations (0.00284956 s). ×2 + 18.82sINFOobjective_server_nodePath shortcutter: [X___________________________________X__________________________X] ×2 + 18.84sINFOobjective_server_nodeFound path in 12 iterations (0.00410204 s). ×2 + 18.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] ×2 + 18.92sINFOobjective_server_nodeFound path in 1 iterations (0.00348062 s). ×2 + 18.97sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 18.99sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 19.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 19.04sINFOobjective_server_nodeFound path in 4 iterations (0.0039048 s). ×2 + 19.11sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 19.13sINFOobjective_server_nodeFound path in 4 iterations (0.00288978 s). ×2 + 19.21sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X______________________X] ×2 + 19.21sWARNcontroller_managerOverrun might occur, Total time : 1839.058 us (Expected < 1666.667 us) --> Read time : 656.147 us, Update time : 189.548 us, Write time : 993.363 us + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060676 ms (missed cycles : 2). + 19.21sWARNros2_control_nodeOverrun might occur, Total time : 1839.058 us (Expected < 1666.667 us) --> Read time : 656.147 us, Update time : 189.548 us, Write time : 993.363 us[0m ×2 + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060676 ms (missed cycles : 2).[0m ×2 + 19.24sINFOobjective_server_nodeFound path in 1 iterations (0.00620593 s). ×2 + 19.29sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 19.31sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 19.34sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 19.37sINFOobjective_server_nodeFound path in 1 iterations (0.00245792 s). ×2 + 19.45sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] ×2 + 19.47sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 19.51sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 19.52sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 19.59sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X] ×2 + 19.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 19.63sINFOros2_control_node[2026-06-11 18:48:16.255] [info] Received new action goal ×2 + 19.63sINFOros2_control_node[2026-06-11 18:48:16.255] [info] Accepted new action goal ×2 + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361622 ms (missed cycles : 3). + 20.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361622 ms (missed cycles : 3).[0m ×2 + 20.24sWARNcontroller_managerOverrun might occur, Total time : 2222.945 us (Expected < 1666.667 us) --> Read time : 270.462 us, Update time : 611.446 us, Write time : 1341.037 us + 20.24sWARNros2_control_nodeOverrun might occur, Total time : 2222.945 us (Expected < 1666.667 us) --> Read time : 270.462 us, Update time : 611.446 us, Write time : 1341.037 us[0m ×2 + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969566 ms (missed cycles : 5). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969566 ms (missed cycles : 5).[0m ×2 + 21.28sWARNcontroller_managerOverrun might occur, Total time : 2079.778 us (Expected < 1666.667 us) --> Read time : 293.933 us, Update time : 101.664 us, Write time : 1684.181 us + 21.28sWARNros2_control_nodeOverrun might occur, Total time : 2079.778 us (Expected < 1666.667 us) --> Read time : 293.933 us, Update time : 101.664 us, Write time : 1684.181 us[0m ×2 + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380299 ms (missed cycles : 3). + 22.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380299 ms (missed cycles : 3).[0m ×2 + 22.42sWARNcontroller_managerOverrun might occur, Total time : 2814.501 us (Expected < 1666.667 us) --> Read time : 283.522 us, Update time : 2025.327 us, Write time : 505.652 us + 22.43sWARNros2_control_nodeOverrun might occur, Total time : 2814.501 us (Expected < 1666.667 us) --> Read time : 283.522 us, Update time : 2025.327 us, Write time : 505.652 us[0m ×2 + 23.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727294 ms (missed cycles : 5). + 23.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727294 ms (missed cycles : 5).[0m ×2 + 23.45sWARNcontroller_managerOverrun might occur, Total time : 2427.207 us (Expected < 1666.667 us) --> Read time : 232.889 us, Update time : 82.613 us, Write time : 2111.705 us + 23.45sWARNros2_control_nodeOverrun might occur, Total time : 2427.207 us (Expected < 1666.667 us) --> Read time : 232.889 us, Update time : 82.613 us, Write time : 2111.705 us[0m ×2 + 24.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.142650 ms (missed cycles : 6). + 24.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.142650 ms (missed cycles : 6).[0m ×2 + 24.51sWARNcontroller_managerOverrun might occur, Total time : 1796.831 us (Expected < 1666.667 us) --> Read time : 237.989 us, Update time : 61.813 us, Write time : 1497.029 us + 24.52sWARNros2_control_nodeOverrun might occur, Total time : 1796.831 us (Expected < 1666.667 us) --> Read time : 237.989 us, Update time : 61.813 us, Write time : 1497.029 us[0m ×2 + 24.64sINFOros2_control_node[2026-06-11 18:48:21.258] [info] Received new action goal ×2 + 24.64sINFOros2_control_node[2026-06-11 18:48:21.258] [info] Accepted new action goal ×2 + 25.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810802 ms (missed cycles : 2). + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810802 ms (missed cycles : 2).[0m ×2 + 25.64sWARNcontroller_managerOverrun might occur, Total time : 4275.270 us (Expected < 1666.667 us) --> Read time : 3612.834 us, Update time : 88.754 us, Write time : 573.682 us + 25.64sWARNros2_control_nodeOverrun might occur, Total time : 4275.270 us (Expected < 1666.667 us) --> Read time : 3612.834 us, Update time : 88.754 us, Write time : 573.682 us[0m ×2 + 26.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 26.35sINFOros2_control_node[2026-06-11 18:48:22.975] [info] Received new action goal ×2 + 26.35sINFOros2_control_node[2026-06-11 18:48:22.975] [info] Accepted new action goal ×2 + 26.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735355 ms (missed cycles : 3). + 26.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735355 ms (missed cycles : 3).[0m ×2 + 26.71sWARNcontroller_managerOverrun might occur, Total time : 5676.587 us (Expected < 1666.667 us) --> Read time : 260.111 us, Update time : 4818.652 us, Write time : 597.824 us + 26.71sWARNros2_control_nodeOverrun might occur, Total time : 5676.587 us (Expected < 1666.667 us) --> Read time : 260.111 us, Update time : 4818.652 us, Write time : 597.824 us[0m ×2 + 27.57sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120054 ms (missed cycles : 4). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120054 ms (missed cycles : 4).[0m ×2 + 27.63sINFOros2_control_node[2026-06-11 18:48:24.248] [info] Received new action goal ×2 + 27.63sINFOros2_control_node[2026-06-11 18:48:24.248] [info] Accepted new action goal ×2 + 27.92sWARNcontroller_managerOverrun might occur, Total time : 2319.423 us (Expected < 1666.667 us) --> Read time : 943.928 us, Update time : 198.318 us, Write time : 1177.177 us + 27.93sWARNros2_control_nodeOverrun might occur, Total time : 2319.423 us (Expected < 1666.667 us) --> Read time : 943.928 us, Update time : 198.318 us, Write time : 1177.177 us[0m ×2 + 28.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804616 ms (missed cycles : 2). + 28.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804616 ms (missed cycles : 2).[0m ×2 + 29.16sWARNcontroller_managerOverrun might occur, Total time : 2339.313 us (Expected < 1666.667 us) --> Read time : 244.450 us, Update time : 157.966 us, Write time : 1936.897 us + 29.16sWARNros2_control_nodeOverrun might occur, Total time : 2339.313 us (Expected < 1666.667 us) --> Read time : 244.450 us, Update time : 157.966 us, Write time : 1936.897 us[0m ×2 + 29.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380669 ms (missed cycles : 2). + 29.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380669 ms (missed cycles : 2).[0m ×2 + 30.37sWARNcontroller_managerOverrun might occur, Total time : 5480.278 us (Expected < 1666.667 us) --> Read time : 4810.421 us, Update time : 94.924 us, Write time : 574.933 us + 30.37sWARNros2_control_nodeOverrun might occur, Total time : 5480.278 us (Expected < 1666.667 us) --> Read time : 4810.421 us, Update time : 94.924 us, Write time : 574.933 us[0m ×2 + 30.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346846 ms (missed cycles : 3). + 30.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346846 ms (missed cycles : 3).[0m ×2 + 31.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992484 ms (missed cycles : 4). + 31.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992484 ms (missed cycles : 4).[0m ×2 + 31.70sWARNcontroller_managerOverrun might occur, Total time : 1727.649 us (Expected < 1666.667 us) --> Read time : 261.871 us, Update time : 944.837 us, Write time : 520.941 us + 31.71sWARNros2_control_nodeOverrun might occur, Total time : 1727.649 us (Expected < 1666.667 us) --> Read time : 261.871 us, Update time : 944.837 us, Write time : 520.941 us[0m ×2 + 32.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800519 ms (missed cycles : 5). + 32.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800519 ms (missed cycles : 5).[0m ×2 + 32.85sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1781203709.47501779 seconds ×3 + 32.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 32.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 32.93sWARNcontroller_managerOverrun might occur, Total time : 6758.569 us (Expected < 1666.667 us) --> Read time : 623.505 us, Update time : 53.312 us, Write time : 6081.752 us + 32.93sWARNros2_control_nodeOverrun might occur, Total time : 6758.569 us (Expected < 1666.667 us) --> Read time : 623.505 us, Update time : 53.312 us, Write time : 6081.752 us[0m ×2 + 32.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 32.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 32.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 32.95sWARNcontroller_managerOverrun might occur, Total time : 4374.144 us (Expected < 1666.667 us) --> Read time : 401.406 us, Update time : 731.449 us (Switch time : 2599.233 us (Switch chained mode time : 0.430 us, perform mode change time : 6.780 us, Activation time : 2591.093 us, Deactivation time : 0.370 us)), Write time : 3241.289 us + 32.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 32.95sWARNros2_control_nodeOverrun might occur, Total time : 4374.144 us (Expected < 1666.667 us) --> Read time : 401.406 us, Update time : 731.449 us (Switch time : 2599.233 us (Switch chained mode time : 0.430 us, perform mode change time : 6.780 us, Activation time : 2591.093 us, Deactivation time : 0.370 us)), Write time : 3241.289 us[0m ×2 + 33.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1781203710.26649356 seconds. ×3 + 33.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 33.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.032110 ms (missed cycles : 7). + 33.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.032110 ms (missed cycles : 7).[0m ×2 + 33.90sINFOros2_control_node[2026-06-11 18:48:30.522] [info] Received new action goal ×2 + 33.90sINFOros2_control_node[2026-06-11 18:48:30.522] [info] Accepted new action goal ×2 + 34.09sWARNcontroller_managerOverrun might occur, Total time : 1988.959 us (Expected < 1666.667 us) --> Read time : 543.851 us, Update time : 400.426 us, Write time : 1044.682 us + 34.10sWARNros2_control_nodeOverrun might occur, Total time : 1988.959 us (Expected < 1666.667 us) --> Read time : 543.851 us, Update time : 400.426 us, Write time : 1044.682 us[0m ×2 + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.415723 ms (missed cycles : 6). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.415723 ms (missed cycles : 6).[0m ×2 + 35.23sWARNcontroller_managerOverrun might occur, Total time : 5010.020 us (Expected < 1666.667 us) --> Read time : 237.710 us, Update time : 80.503 us, Write time : 4691.807 us + 35.23sWARNros2_control_nodeOverrun might occur, Total time : 5010.020 us (Expected < 1666.667 us) --> Read time : 237.710 us, Update time : 80.503 us, Write time : 4691.807 us[0m ×2 + 36.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747006 ms (missed cycles : 5). + 36.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747006 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.2s | 5781 errors · 165 warnings · 7684 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2221 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002567998770143 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4442 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002567998770143[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002033506732460 + 0.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002033506732460[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002490350570448 ×2 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002490350570448[0m ×4 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002780494931479 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002780494931479[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002287181440397 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002287181440397[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002635707500818 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002635707500818[0m ×2 + 0.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002760671462060 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002760671462060[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002127973461294 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002127973461294[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002561600338443 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002561600338443[0m ×2 + 0.11sWARNcontroller_managerOverrun might occur, Total time : 1827.289 us (Expected < 1666.667 us) --> Read time : 301.413 us, Update time : 102.644 us, Write time : 1423.232 us + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002836377172574 + 0.11sWARNros2_control_nodeOverrun might occur, Total time : 1827.289 us (Expected < 1666.667 us) --> Read time : 301.413 us, Update time : 102.644 us, Write time : 1423.232 us[0m ×2 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002836377172574[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178402416242 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178402416242[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002605230098376 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002605230098376[0m ×2 + 0.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002874187016256 ×2 + 0.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002874187016256[0m ×4 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357200134572 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357200134572[0m ×2 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699319093183 + 0.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699319093183[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002238763149198 ×2 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002238763149198[0m ×4 + 0.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002625607705040 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002625607705040[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002875628668879 + 0.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002875628668879[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348043683089 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348043683089[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782867988225 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782867988225[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002281723183873 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002281723183873[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002648759875129 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002648759875129[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002889119488286 ×2 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002889119488286[0m ×4 + 0.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002354499778897 + 0.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002354499778897[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002700395111749 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002700395111749[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937239814273 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937239814273[0m ×2 + 0.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002220220212359 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002220220212359[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001992735400368 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001992735400368[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002550313815437 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002550313815437[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901865148784 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901865148784[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109791175730 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109791175730[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003348439968722 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003348439968722[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002420722984474 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002420722984474[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002077689074325 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002077689074325[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001997629784913 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001997629784913[0m ×2 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002589182685483 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002589182685483[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002956491147426 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002956491147426[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003777353657360 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003777353657360[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681306834132 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681306834132[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881319142823 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881319142823[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003049835154030 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003049835154030[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003291007636095 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003291007636095[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002605800687222 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002605800687222[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866362396104 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866362396104[0m ×2 + 0.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003039514391658 ×2 + 0.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003039514391658[0m ×4 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149665875408 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149665875408[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001475052604812 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001475052604812[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002305467258933 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002305467258933[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002831677847002 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002831677847002[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144390375402 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144390375402[0m ×2 + 0.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975519405035 + 0.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975519405035[0m ×2 + 0.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003832896970300 + 0.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003832896970300[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003694928707897 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003694928707897[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003575706869849 ×2 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003575706869849[0m ×4 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002773451771854 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002773451771854[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967416468326 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967416468326[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003101048702075 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003101048702075[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345716345437 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345716345437[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003342658978846 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003342658978846[0m ×2 + 0.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789525724015 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837199 ms (missed cycles : 5). + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789525724015[0m ×2 + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837199 ms (missed cycles : 5).[0m ×2 + 0.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002362333531237 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002362333531237[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002052730970643 + 0.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002052730970643[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891391883385 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891391883385[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144503321305 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144503321305[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003290587048826 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003290587048826[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003366160986590 ×2 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003366160986590[0m ×4 + 0.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003397825226135 + 0.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003397825226135[0m ×2 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003404122489603 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003404122489603[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003650572775907 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003650572775907[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002502750028511 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002502750028511[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002852187615786 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002852187615786[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082497121020 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082497121020[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226731291017 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226731291017[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311357254100 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311357254100[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003356553168688 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003356553168688[0m ×2 + 0.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003377037500059 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003377037500059[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003383090588053 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003383090588053[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381567904771 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381567904771[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003629537205958 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003629537205958[0m ×2 + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531797334179 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531797334179[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001895374637333 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001895374637333[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763515265420 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763515265420[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642596356473 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642596356473[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003549270125417 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003549270125417[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003480690193212 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003480690193212[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750867916082 ×2 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750867916082[0m ×4 + 0.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003640444843498 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003640444843498[0m ×2 + 0.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003553713815502 + 0.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003553713815502[0m ×2 + 0.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003488898002331 ×2 + 0.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003488898002331[0m ×4 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003442694998190 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003442694998190[0m ×2 + 0.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003411353928249 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003411353928249[0m ×2 + 0.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003391291290110 + 0.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003391291290110[0m ×2 + 0.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003852580199303 + 0.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003852580199303[0m ×2 + 0.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003667780096907 + 0.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003667780096907[0m ×2 + 0.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003541496214755 + 0.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003541496214755[0m ×2 + 0.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003459327192183 ×2 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003459327192183[0m ×4 + 0.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001803745091196 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001803745091196[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000902246707105 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000902246707105[0m ×2 + 1.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000357763986965 + 1.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000357763986965[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001635718494977 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001635718494977[0m ×2 + 1.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002477298310879 + 1.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002477298310879[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003332751110180 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003332751110180[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004876898523163 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004876898523163[0m ×2 + 1.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456275052782 + 1.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456275052782[0m ×2 + 1.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117465650021 + 1.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117465650021[0m ×2 + 1.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858689358655 ×2 + 1.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858689358655[0m ×4 + 1.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891908756754 + 1.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891908756754[0m ×2 + 1.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003714936616851 ×2 + 1.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003714936616851[0m ×4 + 1.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003585854112811 + 1.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003585854112811[0m ×2 + 1.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003495951136807 + 1.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003495951136807[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2068.120 us (Expected < 1666.667 us) --> Read time : 265.002 us, Update time : 53.772 us, Write time : 1749.346 us + 1.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004352067334864 + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2068.120 us (Expected < 1666.667 us) --> Read time : 265.002 us, Update time : 53.772 us, Write time : 1749.346 us[0m ×2 + 1.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004352067334864[0m ×2 + 1.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004064133639514 + 1.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004064133639514[0m ×2 + 1.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003281073994479 + 1.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003281073994479[0m ×2 + 1.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004732338435714 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004732338435714[0m ×2 + 1.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004282290117093 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004282290117093[0m ×2 + 1.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951261365694 ×2 + 1.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951261365694[0m ×4 + 1.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002134373562394 + 1.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002134373562394[0m ×2 + 1.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001363385085453 + 1.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001363385085453[0m ×2 + 1.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002221308010842 + 1.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002221308010842[0m ×2 + 1.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004188994250968 + 1.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004188994250968[0m ×2 + 1.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005401495384555 + 1.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005401495384555[0m ×2 + 1.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003166780291215 + 1.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003166780291215[0m ×2 + 1.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614492915276 + 1.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614492915276[0m ×2 + 1.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005514152130320 + 1.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005514152130320[0m ×2 + 1.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005587601307469 + 1.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005587601307469[0m ×2 + 1.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004738562084106 + 1.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004738562084106[0m ×2 + 1.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004151070571881 + 1.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004151070571881[0m ×2 + 1.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763263927769 + 1.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763263927769[0m ×2 + 1.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003521234844631 + 1.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003521234844631[0m ×2 + 1.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004722322898895 + 1.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004722322898895[0m ×2 + 1.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004146602814426 ×2 + 1.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004146602814426[0m ×4 + 1.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766972428711 + 1.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766972428711[0m ×2 + 1.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001948638981767 + 1.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001948638981767[0m ×2 + 1.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003745051413068 + 1.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003745051413068[0m ×2 + 1.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004922469443801 + 1.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004922469443801[0m ×2 + 1.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004312825710117 + 1.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004312825710117[0m ×2 + 1.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775320416651 + 1.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775320416651[0m ×2 + 1.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004146101824243 + 1.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004146101824243[0m ×2 + 1.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938964712005 + 1.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938964712005[0m ×2 + 1.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048212154671 ×2 + 1.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048212154671[0m ×4 + 1.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389304841237 + 1.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389304841237[0m ×2 + 1.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003937374643393 + 1.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003937374643393[0m ×2 + 1.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004977767356031 + 1.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004977767356031[0m ×2 + 1.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005227384381602 + 1.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005227384381602[0m ×2 + 1.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004447868568923 + 1.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004447868568923[0m ×2 + 1.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927449384676 + 1.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927449384676[0m ×2 + 1.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931900663869 + 1.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931900663869[0m ×2 + 1.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004234110437725 + 1.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004234110437725[0m ×2 + 1.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003779017636240 + 1.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003779017636240[0m ×2 + 1.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004831151398599 + 1.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004831151398599[0m ×2 + 1.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169775363145 ×2 + 1.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169775363145[0m ×4 + 1.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002169577078997 + 1.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002169577078997[0m ×2 + 1.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827355943055 + 1.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827355943055[0m ×2 + 1.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004917455759091 ×2 + 1.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004917455759091[0m ×4 + 1.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265825845449 + 1.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265825845449[0m ×2 + 1.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156493527074 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475564 ms (missed cycles : 3). + 1.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156493527074[0m ×2 + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475564 ms (missed cycles : 3).[0m ×2 + 1.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004210881816125 + 1.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004210881816125[0m ×2 + 1.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005122890382527 + 1.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005122890382527[0m ×2 + 1.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200380601500 + 1.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200380601500[0m ×2 + 1.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005114201763167 + 1.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005114201763167[0m ×2 + 1.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005570974408351 + 1.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005570974408351[0m ×2 + 1.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004636232571515 + 1.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004636232571515[0m ×2 + 1.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005330118862256 + 1.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005330118862256[0m ×2 + 1.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004431719797045 + 1.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004431719797045[0m ×2 + 1.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005273761499926 + 1.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005273761499926[0m ×2 + 1.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369803426364 + 1.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369803426364[0m ×2 + 1.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005104947359876 + 1.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005104947359876[0m ×2 + 1.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254557435392 ×2 + 1.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254557435392[0m ×4 + 1.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005027214472586 + 1.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005027214472586[0m ×2 + 1.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205699838414 + 1.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205699838414[0m ×2 + 1.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004995484542571 ×2 + 1.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004995484542571[0m ×4 + 1.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004187063816927 + 1.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004187063816927[0m ×2 + 1.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004982225627332 + 1.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004982225627332[0m ×2 + 1.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005488083649775 ×2 + 1.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005488083649775[0m ×4 + 1.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002711848315724 + 1.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002711848315724[0m ×2 + 1.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258305207292 + 1.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004258305207292[0m ×2 + 1.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005091280523501 + 1.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005091280523501[0m ×2 + 1.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003431537746006 + 1.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003431537746006[0m ×2 + 1.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698427292043 + 1.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698427292043[0m ×2 + 1.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127328674183 + 1.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127328674183[0m ×2 + 1.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005074523027420 + 1.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005074523027420[0m ×2 + 1.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005633117172329 + 1.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005633117172329[0m ×2 + 1.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007161154241928 + 1.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007161154241928[0m ×2 + 1.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006878785269820 + 1.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006878785269820[0m ×2 + 1.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311308194930 + 1.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311308194930[0m ×2 + 1.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005559182886457 ×2 + 1.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005559182886457[0m ×4 + 1.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005702472564891 + 1.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005702472564891[0m ×2 + 1.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005775776943847 + 1.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005775776943847[0m ×2 + 1.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004519471583657 + 1.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004519471583657[0m ×2 + 2.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005339071160184 + 2.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005339071160184[0m ×2 + 2.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001093667342343 + 2.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001093667342343[0m ×2 + 2.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002475721890090 + 2.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002475721890090[0m ×2 + 2.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004021846451810 + 2.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004021846451810[0m ×2 + 2.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002207800282634 + 2.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002207800282634[0m ×2 + 2.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003836448349713 + 2.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003836448349713[0m ×2 + 2.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871124245397 + 2.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871124245397[0m ×2 + 2.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002703524858577 ×2 + 2.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002703524858577[0m ×4 + 2.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001304018187627 + 2.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001304018187627[0m ×2 + 2.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003234300439024 + 2.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003234300439024[0m ×2 + 2.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004486400818845 ×2 + 2.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004486400818845[0m ×4 + 2.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002478209477675 + 2.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002478209477675[0m ×2 + 2.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954812363500 + 2.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954812363500[0m ×2 + 2.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890128384719 + 2.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890128384719[0m ×2 + 2.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006384750995286 + 2.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006384750995286[0m ×2 + 2.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554448778763 + 2.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554448778763[0m ×2 + 2.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005146360754027 + 2.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005146360754027[0m ×2 + 2.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002741810070374 + 2.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002741810070374[0m ×2 + 2.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963415993481 + 2.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963415993481[0m ×2 + 2.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005448343453436 + 2.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005448343453436[0m ×2 + 2.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005682534254904 + 2.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005682534254904[0m ×2 + 2.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008099714233116 + 2.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008099714233116[0m ×2 + 2.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005982750066452 ×2 + 2.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005982750066452[0m ×4 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 2060.849 us (Expected < 1666.667 us) --> Read time : 264.701 us, Update time : 96.294 us, Write time : 1699.854 us + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 2060.849 us (Expected < 1666.667 us) --> Read time : 264.701 us, Update time : 96.294 us, Write time : 1699.854 us[0m ×2 + 2.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001277539506236 + 2.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001277539506236[0m ×2 + 2.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000219575444434 + 2.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000219575444434[0m ×2 + 2.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002391102305911 + 2.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002391102305911[0m ×2 + 2.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003848536809331 + 2.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003848536809331[0m ×2 + 2.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002061049519754 ×2 + 2.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002061049519754[0m ×4 + 2.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000255281676690 + 2.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000255281676690[0m ×2 + 2.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002607780007659 + 2.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002607780007659[0m ×2 + 2.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127208646650 ×2 + 2.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127208646650[0m ×4 + 2.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005046632859577 + 2.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005046632859577[0m ×2 + 2.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002854568579793 + 2.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002854568579793[0m ×2 + 2.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117351157691 + 2.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117351157691[0m ×2 + 2.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004901584216191 + 2.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004901584216191[0m ×2 + 2.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005350948114257 + 2.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005350948114257[0m ×2 + 2.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007850315837252 + 2.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007850315837252[0m ×2 + 2.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007077014045831 ×2 + 2.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007077014045831[0m ×4 + 2.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006479661597281 + 2.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006479661597281[0m ×2 + 2.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380934872480 + 2.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380934872480[0m ×2 + 2.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006329420347310 ×2 + 2.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006329420347310[0m ×4 + 2.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005961675627139 + 2.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005961675627139[0m ×2 + 2.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007929744048514 + 2.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007929744048514[0m ×2 + 2.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006885431971195 + 2.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006885431971195[0m ×2 + 2.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006160844828042 ×2 + 2.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006160844828042[0m ×4 + 2.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003063245584456 + 2.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003063245584456[0m ×2 + 2.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005979334130531 + 2.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005979334130531[0m ×2 + 2.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001211384680386 + 2.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001211384680386[0m ×2 + 2.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004965467222103 + 2.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004965467222103[0m ×2 + 2.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007386492877775 + 2.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007386492877775[0m ×2 + 2.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066561384103 + 2.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066561384103[0m ×2 + 2.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919099915326 + 2.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919099915326[0m ×2 + 2.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005390669911146 ×2 + 2.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005390669911146[0m ×4 + 2.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007606305343216 + 2.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007606305343216[0m ×2 + 2.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004183309526295 + 2.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004183309526295[0m ×2 + 2.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006704402406529 + 2.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006704402406529[0m ×2 + 2.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008271939733505 + 2.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008271939733505[0m ×2 + 2.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007012133276665 + 2.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007012133276665[0m ×2 + 2.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008285732710640 ×2 + 2.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008285732710640[0m ×4 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.844289 ms (missed cycles : 8). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.844289 ms (missed cycles : 8).[0m ×2 + 2.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354107653610 + 2.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354107653610[0m ×2 + 2.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000377316363429 + 2.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000377316363429[0m ×2 + 2.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690633845280 + 2.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690633845280[0m ×2 + 2.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005449963849227 + 2.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005449963849227[0m ×2 + 2.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007773981183348 + 2.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007773981183348[0m ×2 + 2.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009091135801637 ×2 + 2.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009091135801637[0m ×4 + 2.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009734960984487 + 2.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009734960984487[0m ×2 + 2.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007112908097219 + 2.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007112908097219[0m ×2 + 2.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005988842472953 + 2.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005988842472953[0m ×2 + 2.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007502003190698 ×2 + 2.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007502003190698[0m ×4 + 2.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008405162837910 + 2.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008405162837910[0m ×2 + 2.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008887259898797 + 2.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008887259898797[0m ×2 + 2.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004625532742308 + 2.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004625532742308[0m ×2 + 2.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001922234441109 + 2.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001922234441109[0m ×2 + 2.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000325995775919 + 2.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000325995775919[0m ×2 + 2.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000519607901573 + 2.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000519607901573[0m ×2 + 2.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000882807571623 + 2.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000882807571623[0m ×2 + 2.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000956549830513 ×2 + 2.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000956549830513[0m ×4 + 2.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000873339385453 + 2.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000873339385453[0m ×2 + 2.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000719547204888 + 2.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000719547204888[0m ×2 + 2.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000547919760113 ×2 + 2.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000547919760113[0m ×4 + 2.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000387803145807 + 2.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000387803145807[0m ×2 + 2.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000253064157816 + 2.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000253064157816[0m ×2 + 2.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071181807216 + 2.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071181807216[0m ×2 + 2.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018797790513 + 2.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018797790513[0m ×2 + 2.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014161890934 + 2.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014161890934[0m ×2 + 2.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032591239294 + 2.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032591239294[0m ×2 + 2.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000040792639593 ×2 + 2.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000040792639593[0m ×4 + 2.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042263498564 + 2.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042263498564[0m ×2 + 2.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039674619111 + 2.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039674619111[0m ×2 + 2.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034951937678 + 2.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034951937678[0m ×2 + 2.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029403664048 ×2 + 2.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029403664048[0m ×4 + 3.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023857242470 + 3.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023857242470[0m ×2 + 3.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014417914976 + 3.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014417914976[0m ×2 + 3.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010818188058 ×2 + 3.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010818188058[0m ×4 + 3.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007955723775 + 3.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007955723775[0m ×2 + 3.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005747232575 + 3.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005747232575[0m ×2 + 3.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004087996849 ×2 + 3.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004087996849[0m ×4 + 3.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001383950221 + 3.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001383950221[0m ×2 + 3.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000960186106 + 3.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000960186106[0m ×2 + 3.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000478974407 + 3.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000478974407[0m ×2 + 3.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000350059915 + 3.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000350059915[0m ×2 + 3.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000263910414 ×2 + 3.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000263910414[0m ×4 + 3.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000205558738 + 3.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000205558738[0m ×2 + 3.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000164940005 + 3.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000164940005[0m ×2 + 3.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000135492717 ×2 + 3.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000135492717[0m ×4 + 3.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000004102994771 + 3.18sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000004102994771[0m ×2 + 3.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000003266854563 + 3.19sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000003266854563[0m ×2 + 3.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000002601019697 ×2 + 3.20sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000002601019697[0m ×4 + 3.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000002070864729 + 3.21sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000002070864729[0m ×2 + 3.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000001648778253 + 3.22sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000001648778253[0m ×2 + 3.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000001312750123 ×2 + 3.23sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000001312750123[0m ×4 + 3.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000001045241417 + 3.24sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000001045241417[0m ×2 + 3.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000832280706 + 3.26sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000832280706[0m ×2 + 3.27sWARNcontroller_managerOverrun might occur, Total time : 1951.554 us (Expected < 1666.667 us) --> Read time : 766.573 us, Update time : 154.897 us, Write time : 1030.084 us + 3.27sWARNros2_control_nodeOverrun might occur, Total time : 1951.554 us (Expected < 1666.667 us) --> Read time : 766.573 us, Update time : 154.897 us, Write time : 1030.084 us[0m ×2 + 3.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000662741658 + 3.28sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000662741658[0m ×2 + 3.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000334736395 + 3.29sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000334736395[0m ×2 + 3.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000266603716 ×2 + 3.30sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000266603716[0m ×4 + 3.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000212348736 + 3.33sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000000212348736[0m ×2 + 3.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000161393318 + 3.36sERRORros2_control_nodeVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000161393318[0m ×2 + 3.37sINFOjoint_trajectory_controllerAccepted new action goal ×294 + 3.37sINFOros2_control_nodeAccepted new action goal[0m ×588 + 3.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781203627.68730617 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619865 ms (missed cycles : 4). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619865 ms (missed cycles : 4).[0m ×2 + 3.97sINFOros2_control_nodeMuJoCo sim: 1.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 1828.299 us (Expected < 1666.667 us) --> Read time : 661.659 us, Update time : 106.804 us, Write time : 1059.836 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 1828.299 us (Expected < 1666.667 us) --> Read time : 661.659 us, Update time : 106.804 us, Write time : 1059.836 us[0m ×2 + 4.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781203628.38623238 seconds. ×3 + 4.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.48sINFOros2_control_node[2026-06-11 18:47:08.548] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-06-11 18:47:08.548] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226205 ms (missed cycles : 2). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226205 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun might occur, Total time : 1823.698 us (Expected < 1666.667 us) --> Read time : 633.267 us, Update time : 85.214 us, Write time : 1105.217 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 1823.698 us (Expected < 1666.667 us) --> Read time : 633.267 us, Update time : 85.214 us, Write time : 1105.217 us[0m ×2 + 5.72sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.78sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878843 ms (missed cycles : 4). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878843 ms (missed cycles : 4).[0m ×2 + 6.59sWARNcontroller_managerOverrun might occur, Total time : 7159.228 us (Expected < 1666.667 us) --> Read time : 217.399 us, Update time : 6443.277 us, Write time : 498.552 us + 6.59sWARNros2_control_nodeOverrun might occur, Total time : 7159.228 us (Expected < 1666.667 us) --> Read time : 217.399 us, Update time : 6443.277 us, Write time : 498.552 us[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519895 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519895 ms (missed cycles : 4).[0m ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889381 ms (missed cycles : 2). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889381 ms (missed cycles : 2).[0m ×2 + 7.93sWARNcontroller_managerOverrun might occur, Total time : 2150.662 us (Expected < 1666.667 us) --> Read time : 263.811 us, Update time : 92.014 us, Write time : 1794.837 us + 7.94sWARNros2_control_nodeOverrun might occur, Total time : 2150.662 us (Expected < 1666.667 us) --> Read time : 263.811 us, Update time : 92.014 us, Write time : 1794.837 us[0m ×2 + 8.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000346238925555 + 8.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000346238925555[0m ×2 + 8.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000842567655815 + 8.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000842567655815[0m ×2 + 8.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001119347447248 + 8.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001119347447248[0m ×2 + 8.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001249877703140 + 8.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001249877703140[0m ×2 + 8.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001437914059737 + 8.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001437914059737[0m ×2 + 8.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001399227584488 + 8.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001399227584488[0m ×2 + 8.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001332690079204 + 8.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001332690079204[0m ×2 + 8.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001258987934219 + 8.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001258987934219[0m ×2 + 8.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001190294258280 + 8.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001190294258280[0m ×2 + 8.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001132035515541 + 8.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001132035515541[0m ×2 + 8.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001085558830688 + 8.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001085558830688[0m ×2 + 8.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001276683579130 + 8.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001276683579130[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164006148816 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164006148816[0m ×2 + 8.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001087087305952 + 8.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001087087305952[0m ×2 + 8.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001038151496388 + 8.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001038151496388[0m ×2 + 8.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001009977265328 + 8.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001009977265328[0m ×2 + 8.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001040694193258 + 8.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001040694193258[0m ×2 + 8.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000710747532445 + 8.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000710747532445[0m ×2 + 8.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000823778995450 + 8.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000823778995450[0m ×2 + 8.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000403016129687 + 8.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000403016129687[0m ×2 + 8.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000738892679533 + 8.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000738892679533[0m ×2 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001102770803074 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001102770803074[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001165942789305 + 8.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001165942789305[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001189028065235 + 8.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001189028065235[0m ×2 + 8.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001189212964588 + 8.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001189212964588[0m ×2 + 8.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001387890963118 + 8.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001387890963118[0m ×2 + 8.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001295957586771 + 8.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001295957586771[0m ×2 + 8.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001225737560967 + 8.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001225737560967[0m ×2 + 8.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001175397695634 + 8.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001175397695634[0m ×2 + 8.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000714454901701 + 8.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000714454901701[0m ×2 + 8.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001086957763008 + 8.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001086957763008[0m ×2 + 8.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001116586291708 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001116586291708[0m ×2 + 8.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001133958340325 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001133958340325[0m ×2 + 8.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001243838583649 + 8.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001243838583649[0m ×2 + 8.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001209255140074 + 8.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001209255140074[0m ×2 + 8.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001184424974067 + 8.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001184424974067[0m ×2 + 8.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001168542810965 + 8.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001168542810965[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000738057899435 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000738057899435[0m ×2 + 8.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000933158522171 + 8.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000933158522171[0m ×2 + 8.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001062754027285 + 8.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001062754027285[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000769768924710 + 8.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000769768924710[0m ×2 + 8.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000991925298646 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000991925298646[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001377387241782 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001377387241782[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001362717682946 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001362717682946[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001339211538815 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001339211538815[0m ×2 + 8.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001549033113200 + 8.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001549033113200[0m ×2 + 8.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001440242453829 + 8.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001440242453829[0m ×2 + 8.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001360766649947 + 8.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001360766649947[0m ×2 + 8.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001306463011602 + 8.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001306463011602[0m ×2 + 8.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001272065656482 + 8.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001272065656482[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386973496715 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386973496715[0m ×2 + 8.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001321686461714 + 8.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001321686461714[0m ×2 + 8.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001281683349395 + 8.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001281683349395[0m ×2 + 8.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001260138893074 + 8.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001260138893074[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001322875963476 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001322875963476[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001289170064550 + 8.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001289170064550[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001271836019389 + 8.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001271836019389[0m ×2 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001265791710075 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001265791710075[0m ×2 + 8.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001455214317378 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001455214317378[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001567781008379 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001567781008379[0m ×2 + 8.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001586500969375 + 8.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001586500969375[0m ×2 + 8.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001510011885084 + 8.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001510011885084[0m ×2 + 8.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001451529918495 + 8.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001451529918495[0m ×2 + 8.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001565522669036 + 8.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001565522669036[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000709804805517 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000709804805517[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001026772542506 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001026772542506[0m ×2 + 8.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001873699514899 + 8.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001873699514899[0m ×2 + 8.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001876729635083 + 8.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001876729635083[0m ×2 + 8.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001744523553264 + 8.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001744523553264[0m ×2 + 8.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001636718126958 + 8.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001636718126958[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001555060645474 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001555060645474[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001779558432622 + 8.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001779558432622[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001632760297631 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001632760297631[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001533000530388 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001533000530388[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001655153551853 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001655153551853[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074876 ms (missed cycles : 4). + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001543467706966 + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074876 ms (missed cycles : 4).[0m ×2 + 8.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001543467706966[0m ×2 + 8.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001473694359834 + 8.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001473694359834[0m ×2 + 8.94sWARNcontroller_managerOverrun might occur, Total time : 1934.283 us (Expected < 1666.667 us) --> Read time : 449.949 us, Update time : 845.467 us, Write time : 638.867 us + 8.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001601970944863 + 8.95sWARNros2_control_nodeOverrun might occur, Total time : 1934.283 us (Expected < 1666.667 us) --> Read time : 449.949 us, Update time : 845.467 us, Write time : 638.867 us[0m ×2 + 8.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001601970944863[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001697967435948 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001697967435948[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001624347351541 + 8.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001624347351541[0m ×2 + 8.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001569607173351 + 8.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001569607173351[0m ×2 + 8.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001799658122913 + 8.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001799658122913[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001671385880044 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001671385880044[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001584632084089 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001584632084089[0m ×2 + 9.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001530031237319 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001530031237319[0m ×2 + 9.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001498758056308 + 9.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001498758056308[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001731281860415 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001731281860415[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001625376511376 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001625376511376[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001558852429485 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001558852429485[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001685196263802 + 9.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001685196263802[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001597765670331 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001597765670331[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001545344356214 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001545344356214[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001517790934977 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001517790934977[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001752891839567 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001752891839567[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001777295336042 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001777295336042[0m ×2 + 9.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691238469087 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691238469087[0m ×2 + 9.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001632755498218 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001632755498218[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001595651974760 + 9.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001595651974760[0m ×2 + 9.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001833400397459 + 9.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001833400397459[0m ×2 + 9.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001719818958442 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001719818958442[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001646257838665 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001646257838665[0m ×2 + 9.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001602172792390 + 9.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001602172792390[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001841536515039 + 9.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001841536515039[0m ×2 + 9.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001518901742699 + 9.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001518901742699[0m ×2 + 9.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001530079608615 + 9.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001530079608615[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002294495594533 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002294495594533[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002061290439747 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002061290439747[0m ×2 + 9.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001892759254296 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001892759254296[0m ×2 + 9.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001776853733321 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001776853733321[0m ×2 + 9.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001701896184939 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001701896184939[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001656344591680 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001656344591680[0m ×2 + 9.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001631689299695 + 9.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001631689299695[0m ×2 + 9.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001620565258934 + 9.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001620565258934[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002073755787339 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002073755787339[0m ×2 + 9.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001896974280654 + 9.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001896974280654[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001779725454304 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001779725454304[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001706562820872 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001706562820872[0m ×2 + 9.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001840429985043 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001840429985043[0m ×2 + 9.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781298936893 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781298936893[0m ×2 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001738939436460 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001738939436460[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001710187938917 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001710187938917[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002168433993919 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002168433993919[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973784213438 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973784213438[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001841365488955 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001841365488955[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001755752163457 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001755752163457[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002215956948738 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002215956948738[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001987472059663 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001987472059663[0m ×2 + 9.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001837485897507 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001837485897507[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001744380839091 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001744380839091[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001864565113240 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001864565113240[0m ×2 + 9.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001803098916247 + 9.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001803098916247[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002484274987892 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002484274987892[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002177214355199 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002177214355199[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001967085281413 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001967085281413[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001830052986002 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001830052986002[0m ×2 + 9.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001746529048453 + 9.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001746529048453[0m ×2 + 9.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002209701674432 + 9.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002209701674432[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001984546079605 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001984546079605[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001949888598564 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001949888598564[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002200755818055 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002200755818055[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002002861903046 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002002861903046[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001869370525142 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001869370525142[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001783845965305 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001783845965305[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002247577786708 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002247577786708[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002066070882210 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002066070882210[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001660219464742 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001660219464742[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002448478904287 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002448478904287[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002199549014800 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002199549014800[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002743984096187 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002743984096187[0m ×2 + 9.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002337911573338 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002337911573338[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002079145174721 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002079145174721[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002010665297693 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002010665297693[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002619790803707 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002619790803707[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002755169409232 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002755169409232[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002345786436374 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002345786436374[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002066292395597 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002066292395597[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001884614582109 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001884614582109[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002496782994354 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002496782994354[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002536344590799 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002536344590799[0m ×2 + 9.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002180814048639 + 9.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002180814048639[0m ×2 + 9.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001947699503845 + 9.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001947699503845[0m ×2 + 9.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001803319789236 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001803319789236[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002442142073880 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002442142073880[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002123239494664 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002123239494664[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001943799479482 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001943799479482[0m ×2 + 9.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002648258973001 + 9.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002648258973001[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002649349043561 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002649349043561[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002336332935352 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002336332935352[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002132251091855 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002132251091855[0m ×2 + 9.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002002347215439 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002002347215439[0m ×2 + 9.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001750432738376 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001750432738376[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002658191110284 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002658191110284[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002936194112667 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002936194112667[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003382835684789 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003382835684789[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002814051584612 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002814051584612[0m ×2 + 9.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002420212299983 + 9.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002420212299983[0m ×2 + 9.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002934367794282 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002934367794282[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002477028391241 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002477028391241[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178510802876 + 9.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178510802876[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403185 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403185 ms (missed cycles : 3).[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801047124800 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801047124800[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002342850803942 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002342850803942[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002932526408581 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002932526408581[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014101897022 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014101897022[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002538067488906 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002538067488906[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002224078975152 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002224078975152[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002738961924431 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002738961924431[0m ×2 + 9.98sWARNcontroller_managerOverrun might occur, Total time : 8231.624 us (Expected < 1666.667 us) --> Read time : 217.909 us, Update time : 72.853 us, Write time : 7940.862 us + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002345639344013 + 9.98sWARNros2_control_nodeOverrun might occur, Total time : 8231.624 us (Expected < 1666.667 us) --> Read time : 217.909 us, Update time : 72.853 us, Write time : 7940.862 us[0m ×2 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002345639344013[0m ×2 + 9.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002902562388346 + 10.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002902562388346[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002371349734695 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002371349734695[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002944411425621 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002944411425621[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002413658179324 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002413658179324[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002980341537795 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002980341537795[0m ×2 + 10.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002519053433569 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002519053433569[0m ×2 + 10.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003033899759243 + 10.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003033899759243[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532697275822 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532697275822[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002207007847487 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002207007847487[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002814293383505 + 10.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002814293383505[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002965019308107 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002965019308107[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485924141429 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485924141429[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983344787130 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983344787130[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002487279416851 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002487279416851[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002765697206609 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002765697206609[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002341459668958 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002341459668958[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002883024175249 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002883024175249[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421407249272 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421407249272[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002935605705980 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002935605705980[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002446310457354 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002446310457354[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002942528602051 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002942528602051[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002451708265501 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002451708265501[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002176829919471 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002176829919471[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002150653043019 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002150653043019[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002664292631103 + 10.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002664292631103[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003167791742694 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003167791742694[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973668399369 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973668399369[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002243788903666 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002243788903666[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003069201143437 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003069201143437[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568673703653 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568673703653[0m ×2 + 10.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003839231654284 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003839231654284[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003962150496629 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003962150496629[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966210714085 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966210714085[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003133525097607 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003133525097607[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003448612231154 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003448612231154[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002774083856465 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002774083856465[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326112227609 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326112227609[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002686661499813 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002686661499813[0m ×2 + 10.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003151863200617 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003151863200617[0m ×2 + 10.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002474984056598 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002474984056598[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003078810976614 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003078810976614[0m ×2 + 10.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002521354047099 + 10.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002521354047099[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003140232259781 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003140232259781[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003692119110706 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003692119110706[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003862132945180 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003862132945180[0m ×2 + 10.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003068212682185 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003068212682185[0m ×2 + 10.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003411320391069 + 10.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003411320391069[0m ×2 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709898731539 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709898731539[0m ×2 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002941090387070 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002941090387070[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311496622077 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311496622077[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003547052644765 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003547052644765[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003551110217986 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003551110217986[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002825617743624 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002825617743624[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231407710839 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231407710839[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003494531592951 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003494531592951[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003541824828241 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003541824828241[0m ×2 + 10.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973354268147 + 10.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973354268147[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002524792887501 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002524792887501[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003153758482219 + 10.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003153758482219[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539753022557 + 10.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539753022557[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003757727472832 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003757727472832[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055925784861 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055925784861[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185794054629 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185794054629[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003475711998341 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003475711998341[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003651612677257 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003651612677257[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002635554236360 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002635554236360[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003150483354834 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003150483354834[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004167929804228 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004167929804228[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003244211414967 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003244211414967[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002495317784304 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002495317784304[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003081594517788 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003081594517788[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003453985549196 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003453985549196[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470618248300 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470618248300[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003440854598033 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003440854598033[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003619343340821 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003619343340821[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003722377561902 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003722377561902[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003775340219610 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003775340219610[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003796861870605 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003796861870605[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003800026863279 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003800026863279[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002932676626328 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002932676626328[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003251316766028 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003251316766028[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003468366643333 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003468366643333[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003609102706643 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003609102706643[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003906249138055 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003906249138055[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003878552666356 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003878552666356[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003847901862185 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003847901862185[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959375824770 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959375824770[0m ×2 + 10.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003263448255858 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003263448255858[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003812069756720 + 10.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003812069756720[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003810929176245 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003810929176245[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801615424072 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801615424072[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003789142276651 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003789142276651[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001937508402229 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001937508402229[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002754309129600 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002754309129600[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282029008416 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282029008416[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004294136080114 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004294136080114[0m ×2 + 10.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004227624523714 + 10.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004227624523714[0m ×2 + 10.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004136567211113 + 10.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004136567211113[0m ×2 + 10.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004042913799969 + 10.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004042913799969[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590099750465 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590099750465[0m ×2 + 10.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004296718228820 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004296718228820[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081521000517 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081521000517[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003930722808233 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003930722808233[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003830087018643 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003830087018643[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766677098571 + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766677098571[0m ×2 + 10.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003729641022387 + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003729641022387[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004025239239504 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004025239239504[0m ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875079 ms (missed cycles : 4). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875079 ms (missed cycles : 4).[0m ×2 + 11.02sWARNcontroller_managerOverrun might occur, Total time : 4066.832 us (Expected < 1666.667 us) --> Read time : 241.940 us, Update time : 3254.428 us, Write time : 570.464 us + 11.02sWARNros2_control_nodeOverrun might occur, Total time : 4066.832 us (Expected < 1666.667 us) --> Read time : 241.940 us, Update time : 3254.428 us, Write time : 570.464 us[0m ×2 + 11.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893200346151 + 11.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893200346151[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001563815860151 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001563815860151[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002583469048498 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002583469048498[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003233124212661 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003233124212661[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198426137541 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198426137541[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004803696176411 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004803696176411[0m ×2 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004477554661979 + 11.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004477554661979[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222998317754 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222998317754[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004325701479413 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004325701479413[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004100753242647 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004100753242647[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003907122511754 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003907122511754[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003767959430040 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003767959430040[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003676823969973 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003676823969973[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004647630197577 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004647630197577[0m ×2 + 11.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222856434787 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222856434787[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003935754686663 + 11.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003935754686663[0m ×2 + 11.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003751592352186 + 11.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003751592352186[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003641031130751 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003641031130751[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003580724400281 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003580724400281[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552991844080 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552991844080[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003545040323635 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003545040323635[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003548027853700 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003548027853700[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005073369987273 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005073369987273[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005118296915031 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005118296915031[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533440866844 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533440866844[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129443123768 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129443123768[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004652933332783 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004652933332783[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004187558590068 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004187558590068[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004104080885854 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004104080885854[0m ×2 + 11.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160977244682 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160977244682[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005480770987427 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005480770987427[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005525563403384 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005525563403384[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792241569318 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792241569318[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004281798138916 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004281798138916[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942620560708 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942620560708[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004906568028342 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004906568028342[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326354473591 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326354473591[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003946336567583 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003946336567583[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003711547795032 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003711547795032[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005085452566023 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005085452566023[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004444261151151 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004444261151151[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004019404488619 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004019404488619[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752905454973 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752905454973[0m ×2 + 11.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004713428039716 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004713428039716[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004192338746691 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004192338746691[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856731645056 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856731645056[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003263011544332 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003263011544332[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004955019901781 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004955019901781[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005994211301579 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005994211301579[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005082198239219 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005082198239219[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005940540616598 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005940540616598[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004942391524436 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004942391524436[0m ×2 + 11.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273980082486 + 11.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273980082486[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005227940700461 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005227940700461[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004440514042007 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004440514042007[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005429447324291 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005429447324291[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004492536750662 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004492536750662[0m ×2 + 11.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004973168655108 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004973168655108[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132692432295 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132692432295[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004986822929145 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004986822929145[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004161876992851 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004161876992851[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637609457376 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637609457376[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003941744016144 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003941744016144[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004894198624554 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004894198624554[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134970348238 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134970348238[0m ×2 + 11.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005013317938024 + 11.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005013317938024[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202209722915 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202209722915[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003015193926383 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003015193926383[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004510944018236 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004510944018236[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005447405421865 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005447405421865[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006035508384079 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006035508384079[0m ×2 + 11.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002955958149598 + 11.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002955958149598[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004572557541081 + 11.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004572557541081[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005569433100084 + 11.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005569433100084[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006135041566011 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006135041566011[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006414571254609 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006414571254609[0m ×2 + 11.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006896522971507 + 11.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006896522971507[0m ×2 + 11.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005418512049424 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005418512049424[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005818051373313 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005818051373313[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006045760626765 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006045760626765[0m ×2 + 11.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006086984560717 + 11.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006086984560717[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004793709419287 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004793709419287[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005354482826762 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005354482826762[0m ×2 + 11.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005716034340442 + 11.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005716034340442[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004182223646339 + 11.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004182223646339[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003716917542434 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003716917542434[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004843478536848 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004843478536848[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005549129146361 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005549129146361[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007177164277928 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007177164277928[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005585883391836 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005585883391836[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005888073749507 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005888073749507[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006048215895257 + 11.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006048215895257[0m ×2 + 11.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006522924709687 + 11.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006522924709687[0m ×2 + 11.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005036191816917 + 11.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005036191816917[0m ×2 + 11.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005446150728219 + 11.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005446150728219[0m ×2 + 11.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006303551295760 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006303551295760[0m ×2 + 11.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004831007236384 + 11.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004831007236384[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005224760432804 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005224760432804[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005487491473571 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005487491473571[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005653728835333 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005653728835333[0m ×2 + 12.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005750871256257 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005750871256257[0m ×2 + 12.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005800585835187 + 12.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005800585835187[0m ×2 + 12.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005819227900595 + 12.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005819227900595[0m ×2 + 12.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005818620827103 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005818620827103[0m ×2 + 12.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005806946507361 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005806946507361[0m ×2 + 12.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005789601594718 + 12.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005789601594718[0m ×2 + 12.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006244947887180 + 12.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006244947887180[0m ×2 + 12.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006051438020570 + 12.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006051438020570[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658093 ms (missed cycles : 4). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658093 ms (missed cycles : 4).[0m ×2 + 12.08sWARNcontroller_managerOverrun might occur, Total time : 3941.817 us (Expected < 1666.667 us) --> Read time : 1007.843 us, Update time : 110.904 us, Write time : 2823.070 us + 12.08sWARNros2_control_nodeOverrun might occur, Total time : 3941.817 us (Expected < 1666.667 us) --> Read time : 1007.843 us, Update time : 110.904 us, Write time : 2823.070 us[0m ×2 + 12.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005910254983969 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005910254983969[0m ×2 + 12.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006398669265495 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006398669265495[0m ×2 + 12.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006174700376484 + 12.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006174700376484[0m ×2 + 12.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006624159683050 + 12.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006624159683050[0m ×2 + 12.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006272742797282 + 12.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006272742797282[0m ×2 + 12.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006015155177952 + 12.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006015155177952[0m ×2 + 12.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006357684816828 + 12.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006357684816828[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006112253034513 + 12.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006112253034513[0m ×2 + 12.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006934601519287 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006934601519287[0m ×2 + 12.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006428422824101 + 12.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006428422824101[0m ×2 + 12.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006042549179710 + 12.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006042549179710[0m ×2 + 12.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005776773560535 + 12.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005776773560535[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006586409530158 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006586409530158[0m ×2 + 12.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006100830946275 + 12.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006100830946275[0m ×2 + 12.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006200927418933 + 12.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006200927418933[0m ×2 + 12.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006636196514485 + 12.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006636196514485[0m ×2 + 12.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006183679263813 + 12.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006183679263813[0m ×2 + 12.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006270151907416 + 12.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006270151907416[0m ×2 + 12.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005964656690807 + 12.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005964656690807[0m ×2 + 12.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008042444659832 + 12.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008042444659832[0m ×2 + 12.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008168243940582 + 12.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008168243940582[0m ×2 + 12.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007070124690911 + 12.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007070124690911[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006303449276151 + 12.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006303449276151[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791269643517 + 12.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791269643517[0m ×2 + 12.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007743510951818 + 12.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007743510951818[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007762968127648 + 12.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007762968127648[0m ×2 + 12.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006652317985550 + 12.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006652317985550[0m ×2 + 12.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005907268378461 + 12.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005907268378461[0m ×2 + 12.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005435240378730 + 12.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005435240378730[0m ×2 + 12.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005611066425820 + 12.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005611066425820[0m ×2 + 12.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007599480796358 + 12.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007599480796358[0m ×2 + 12.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006602495360842 + 12.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006602495360842[0m ×2 + 12.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008105402704366 + 12.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008105402704366[0m ×2 + 12.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006806786739014 + 12.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006806786739014[0m ×2 + 12.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008108273361197 + 12.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008108273361197[0m ×2 + 12.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008143008164393 + 12.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008143008164393[0m ×2 + 12.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006733554413237 + 12.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006733554413237[0m ×2 + 12.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005804821597739 + 12.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005804821597739[0m ×2 + 12.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007377298450270 + 12.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007377298450270[0m ×2 + 12.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006210616688107 + 12.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006210616688107[0m ×2 + 12.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007586042759823 + 12.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007586042759823[0m ×2 + 12.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006307924159840 + 12.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006307924159840[0m ×2 + 12.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007655925140182 + 12.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007655925140182[0m ×2 + 12.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006309026853241 + 12.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006309026853241[0m ×2 + 12.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007542588671870 + 12.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007542588671870[0m ×2 + 12.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005929861702338 + 12.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005929861702338[0m ×2 + 12.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005442165075679 + 12.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005442165075679[0m ×2 + 12.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005400314226802 + 12.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005400314226802[0m ×2 + 12.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006708196101731 + 12.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006708196101731[0m ×2 + 12.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007960682220985 + 12.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007960682220985[0m ×2 + 12.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008644436072911 + 12.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008644436072911[0m ×2 + 12.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004777909489512 + 12.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004777909489512[0m ×2 + 12.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006623717541793 + 12.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006623717541793[0m ×2 + 12.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007745181568533 + 12.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007745181568533[0m ×2 + 12.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008359144038404 + 12.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008359144038404[0m ×2 + 12.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010680586648297 + 12.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010680586648297[0m ×2 + 12.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010051523848523 + 12.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010051523848523[0m ×2 + 12.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009483128822130 + 12.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009483128822130[0m ×2 + 12.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009002534985534 + 12.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009002534985534[0m ×2 + 12.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008614627098076 + 12.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008614627098076[0m ×2 + 12.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008311927683815 + 12.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008311927683815[0m ×2 + 12.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008081192075044 + 12.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008081192075044[0m ×2 + 12.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007907542665869 + 12.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007907542665869[0m ×2 + 12.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007776847405276 + 12.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007776847405276[0m ×2 + 12.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008419663961479 + 12.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008419663961479[0m ×2 + 12.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008068528227899 + 12.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008068528227899[0m ×2 + 12.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007814429737357 + 12.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007814429737357[0m ×2 + 12.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007632694931728 + 12.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007632694931728[0m ×2 + 12.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008795759177752 + 12.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008795759177752[0m ×2 + 12.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008210562698764 + 12.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008210562698764[0m ×2 + 12.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007798247255534 + 12.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007798247255534[0m ×2 + 12.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008256287594068 + 12.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008256287594068[0m ×2 + 12.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008537155886612 + 12.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008537155886612[0m ×2 + 12.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009654532302797 + 12.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009654532302797[0m ×2 + 12.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008769785982393 + 12.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008769785982393[0m ×2 + 12.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011303468128500 + 12.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011303468128500[0m ×2 + 12.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009559709262900 + 12.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009559709262900[0m ×2 + 12.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010147885957606 + 12.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010147885957606[0m ×2 + 12.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008695495399408 + 12.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008695495399408[0m ×2 + 12.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007714263364737 + 12.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007714263364737[0m ×2 + 12.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010174288235255 + 12.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010174288235255[0m ×2 + 12.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010484017904092 + 12.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010484017904092[0m ×2 + 12.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008761119912557 + 12.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008761119912557[0m ×2 + 12.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007734548472755 + 12.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007734548472755[0m ×2 + 12.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010077667189343 + 12.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010077667189343[0m ×2 + 12.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011434846828858 + 12.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011434846828858[0m ×2 + 12.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011595004108606 + 12.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011595004108606[0m ×2 + 12.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009286924906821 + 12.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009286924906821[0m ×2 + 12.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010629472680138 + 12.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010629472680138[0m ×2 + 12.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008496495592983 + 12.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008496495592983[0m ×2 + 12.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009944024265086 + 12.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009944024265086[0m ×2 + 12.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007505680998352 + 12.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007505680998352[0m ×2 + 12.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009316105035424 + 12.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009316105035424[0m ×2 + 12.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007331661032823 + 12.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007331661032823[0m ×2 + 13.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010512284082802 + 13.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010512284082802[0m ×2 + 13.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011072792349033 + 13.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011072792349033[0m ×2 + 13.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011239184547247 + 13.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011239184547247[0m ×2 + 13.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011164013627771 + 13.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011164013627771[0m ×2 + 13.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012054788226876 + 13.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012054788226876[0m ×2 + 13.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011488423969950 + 13.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011488423969950[0m ×2 + 13.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010967363654933 + 13.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010967363654933[0m ×2 + 13.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010512146326707 + 13.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010512146326707[0m ×2 + 13.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011366133375726 + 13.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011366133375726[0m ×2 + 13.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010638426179281 + 13.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010638426179281[0m ×2 + 13.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010079387940990 + 13.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010079387940990[0m ×2 + 13.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009656524987570 + 13.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009656524987570[0m ×2 + 13.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011168681786110 + 13.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011168681786110[0m ×2 + 13.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010242456699213 + 13.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010242456699213[0m ×2 + 13.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009576647265984 + 13.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009576647265984[0m ×2 + 13.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011042950954326 + 13.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011042950954326[0m ×2 + 13.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009984578181785 + 13.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009984578181785[0m ×2 + 13.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009246594775307 + 13.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009246594775307[0m ×2 + 13.14sWARNcontroller_managerOverrun might occur, Total time : 10088.738 us (Expected < 1666.667 us) --> Read time : 241.231 us, Update time : 93.444 us, Write time : 9754.063 us + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.657645 ms (missed cycles : 7). + 13.14sWARNros2_control_nodeOverrun might occur, Total time : 10088.738 us (Expected < 1666.667 us) --> Read time : 241.231 us, Update time : 93.444 us, Write time : 9754.063 us[0m ×2 + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.657645 ms (missed cycles : 7).[0m ×2 + 13.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012847285416887 + 13.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012847285416887[0m ×2 + 13.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010662208330453 + 13.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010662208330453[0m ×2 + 13.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009782136733911 + 13.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009782136733911[0m ×2 + 13.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012755266087162 + 13.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012755266087162[0m ×2 + 13.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014338247679924 + 13.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014338247679924[0m ×2 + 13.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010369957789567 + 13.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010369957789567[0m ×2 + 13.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006794405045092 + 13.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006794405045092[0m ×2 + 13.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010855217865706 + 13.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010855217865706[0m ×2 + 13.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019012250777786 + 13.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019012250777786[0m ×2 + 13.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017272632917470 + 13.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017272632917470[0m ×2 + 13.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015651089579940 + 13.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015651089579940[0m ×2 + 13.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015964791077156 + 13.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015964791077156[0m ×2 + 13.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014420480773017 + 13.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014420480773017[0m ×2 + 13.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013149081823004 + 13.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013149081823004[0m ×2 + 13.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012131751769667 + 13.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012131751769667[0m ×2 + 13.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013959311078899 + 13.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013959311078899[0m ×2 + 13.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012404662372447 + 13.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012404662372447[0m ×2 + 13.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011257666416171 + 13.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011257666416171[0m ×2 + 13.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009144768695264 + 13.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009144768695264[0m ×2 + 13.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014280486226042 + 13.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014280486226042[0m ×2 + 13.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016957172329131 + 13.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016957172329131[0m ×2 + 13.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017967675723704 + 13.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017967675723704[0m ×2 + 13.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017915792257682 + 13.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017915792257682[0m ×2 + 13.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019287983912220 + 13.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019287983912220[0m ×2 + 13.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014115461713363 + 13.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014115461713363[0m ×2 + 13.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014403630727302 + 13.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014403630727302[0m ×2 + 13.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014196599725004 + 13.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014196599725004[0m ×2 + 13.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013698176688157 + 13.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013698176688157[0m ×2 + 13.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017631844260529 + 13.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017631844260529[0m ×2 + 13.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015294375936258 + 13.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015294375936258[0m ×2 + 13.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013426188167320 + 13.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013426188167320[0m ×2 + 13.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016933800509984 + 13.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016933800509984[0m ×2 + 13.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013973215147252 + 13.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013973215147252[0m ×2 + 13.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016890507173537 + 13.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016890507173537[0m ×2 + 13.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017871995719491 + 13.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017871995719491[0m ×2 + 13.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017632101196711 + 13.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017632101196711[0m ×2 + 13.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016694428272195 + 13.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016694428272195[0m ×2 + 13.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015423110446750 + 13.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015423110446750[0m ×2 + 13.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014057167957259 + 13.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014057167957259[0m ×2 + 13.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012743515709383 + 13.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012743515709383[0m ×2 + 13.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013773765213651 + 13.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013773765213651[0m ×2 + 13.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009221801837322 + 13.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009221801837322[0m ×2 + 13.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009173243894057 + 13.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009173243894057[0m ×2 + 13.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005538448544216 + 13.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005538448544216[0m ×2 + 13.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006931252697509 + 13.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006931252697509[0m ×2 + 13.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007702286292345 + 13.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007702286292345[0m ×2 + 13.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008458398630450 + 13.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008458398630450[0m ×2 + 13.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005608487745596 + 13.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005608487745596[0m ×2 + 13.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006703164232727 + 13.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006703164232727[0m ×2 + 13.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007265315067786 + 13.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007265315067786[0m ×2 + 13.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005624690838911 + 13.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005624690838911[0m ×2 + 13.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006776161723451 + 13.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006776161723451[0m ×2 + 13.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005271841380110 + 13.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005271841380110[0m ×2 + 13.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006047176904511 + 13.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006047176904511[0m ×2 + 13.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004804011803728 + 13.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004804011803728[0m ×2 + 13.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005641575956217 + 13.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005641575956217[0m ×2 + 13.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004552973252109 + 13.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004552973252109[0m ×2 + 13.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005395661853089 + 13.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005395661853089[0m ×2 + 13.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394506328230 + 13.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394506328230[0m ×2 + 13.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005218624766845 + 13.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005218624766845[0m ×2 + 13.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275691835892 + 13.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275691835892[0m ×2 + 13.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005066388438160 + 13.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005066388438160[0m ×2 + 13.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005313130443220 + 13.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005313130443220[0m ×2 + 13.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004323451816784 + 13.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004323451816784[0m ×2 + 13.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010609343578 + 13.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010609343578[0m ×2 + 13.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110926519180 + 13.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110926519180[0m ×2 + 13.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004803744987961 + 13.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004803744987961[0m ×2 + 13.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005035613973063 + 13.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005035613973063[0m ×2 + 13.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004114534827292 + 13.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004114534827292[0m ×2 + 13.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004744587841821 + 13.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004744587841821[0m ×2 + 13.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003912109439128 + 13.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003912109439128[0m ×2 + 13.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004666031876245 + 13.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004666031876245[0m ×2 + 13.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003646760389225 + 13.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003646760389225[0m ×2 + 13.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409676427666 + 13.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409676427666[0m ×2 + 13.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004863130992545 + 13.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004863130992545[0m ×2 + 13.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003988175316617 + 13.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003988175316617[0m ×2 + 13.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004513678091347 + 13.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004513678091347[0m ×2 + 13.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004819691795035 + 13.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004819691795035[0m ×2 + 13.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004878196933862 + 13.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004878196933862[0m ×2 + 13.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942812259337 + 13.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942812259337[0m ×2 + 13.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390168605127 + 13.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390168605127[0m ×2 + 13.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004657551522593 + 13.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004657551522593[0m ×2 + 13.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003769913667419 + 13.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003769913667419[0m ×2 + 13.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004421752908475 + 13.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004421752908475[0m ×2 + 13.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003604194195655 + 13.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003604194195655[0m ×2 + 13.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004094776296631 + 13.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004094776296631[0m ×2 + 13.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004403186926678 + 13.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004403186926678[0m ×2 + 13.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003597195233991 + 13.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003597195233991[0m ×2 + 13.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004053091247328 + 13.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004053091247328[0m ×2 + 13.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004676122451126 + 13.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004676122451126[0m ×2 + 13.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758495235341 + 13.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758495235341[0m ×2 + 14.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004122232047121 + 14.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004122232047121[0m ×2 + 14.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003183784233807 + 14.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003183784233807[0m ×2 + 14.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881331540538 + 14.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881331540538[0m ×2 + 14.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002835568908379 + 14.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002835568908379[0m ×2 + 14.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003423104166246 + 14.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003423104166246[0m ×2 + 14.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994060317297 + 14.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994060317297[0m ×2 + 14.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315593251203 + 14.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315593251203[0m ×2 + 14.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004465854923594 + 14.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004465854923594[0m ×2 + 14.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004511306563426 + 14.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004511306563426[0m ×2 + 14.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003249306848097 + 14.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003249306848097[0m ×2 + 14.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003692447920985 + 14.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003692447920985[0m ×2 + 14.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003962946679356 + 14.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003962946679356[0m ×2 + 14.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113077341440 + 14.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113077341440[0m ×2 + 14.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005107878626713 + 14.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005107878626713[0m ×2 + 14.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004805143042753 + 14.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004805143042753[0m ×2 + 14.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560759708398 + 14.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560759708398[0m ×2 + 14.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004372266517392 + 14.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004372266517392[0m ×2 + 14.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004230952081906 + 14.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004230952081906[0m ×2 + 14.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004414995337360 + 14.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004414995337360[0m ×2 + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.369838 ms (missed cycles : 4). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.369838 ms (missed cycles : 4).[0m ×2 + 14.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004805695088054 + 14.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004805695088054[0m ×2 + 14.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005840164261316 + 14.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005840164261316[0m ×2 + 14.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006982019508174 + 14.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006982019508174[0m ×2 + 14.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007842882380293 + 14.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007842882380293[0m ×2 + 14.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008315778490247 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008315778490247[0m ×2 + 14.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008437090449830 + 14.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008437090449830[0m ×2 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009521792079725 + 14.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009521792079725[0m ×2 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008938459223744 + 14.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008938459223744[0m ×2 + 14.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008372995379291 + 14.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008372995379291[0m ×2 + 14.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007870338558215 + 14.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007870338558215[0m ×2 + 14.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009744974597187 + 14.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009744974597187[0m ×2 + 14.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008543788555921 + 14.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008543788555921[0m ×2 + 14.31sWARNcontroller_managerOverrun might occur, Total time : 2219.904 us (Expected < 1666.667 us) --> Read time : 250.511 us, Update time : 88.123 us, Write time : 1881.270 us + 14.31sWARNros2_control_nodeOverrun might occur, Total time : 2219.904 us (Expected < 1666.667 us) --> Read time : 250.511 us, Update time : 88.123 us, Write time : 1881.270 us[0m ×2 + 14.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008114738938869 + 14.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008114738938869[0m ×2 + 14.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007778131329373 + 14.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007778131329373[0m ×2 + 14.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007115251841351 + 14.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007115251841351[0m ×2 + 14.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008799041678692 + 14.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008799041678692[0m ×2 + 14.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007684638696856 + 14.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007684638696856[0m ×2 + 14.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006927522693762 + 14.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006927522693762[0m ×2 + 14.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006433364743027 + 14.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006433364743027[0m ×2 + 14.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008048735085098 + 14.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008048735085098[0m ×2 + 14.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007063142860246 + 14.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007063142860246[0m ×2 + 14.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006411053282018 + 14.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006411053282018[0m ×2 + 14.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007975623728110 + 14.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007975623728110[0m ×2 + 14.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006918769135774 + 14.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006918769135774[0m ×2 + 14.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006721879782816 + 14.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006721879782816[0m ×2 + 14.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008410842518677 + 14.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008410842518677[0m ×2 + 14.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008635182026135 + 14.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008635182026135[0m ×2 + 14.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007207768985977 + 14.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007207768985977[0m ×2 + 14.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006287173740850 + 14.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006287173740850[0m ×2 + 14.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007986001853143 + 14.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007986001853143[0m ×2 + 14.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006553939788177 + 14.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006553939788177[0m ×2 + 14.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007853955750661 + 14.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007853955750661[0m ×2 + 14.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006399899073481 + 14.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006399899073481[0m ×2 + 14.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007770131829672 + 14.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007770131829672[0m ×2 + 14.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006572738691030 + 14.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006572738691030[0m ×2 + 14.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007880139766570 + 14.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007880139766570[0m ×2 + 14.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006592768450528 + 14.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006592768450528[0m ×2 + 14.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007898580404780 + 14.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007898580404780[0m ×2 + 14.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006404708365949 + 14.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006404708365949[0m ×2 + 14.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007556375770046 + 14.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007556375770046[0m ×2 + 14.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007900062831062 + 14.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007900062831062[0m ×2 + 14.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006328891324921 + 14.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006328891324921[0m ×2 + 14.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007356497452241 + 14.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007356497452241[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005911739229263 + 14.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005911739229263[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007071653518928 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007071653518928[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007643751737459 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007643751737459[0m ×2 + 14.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005992480819405 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005992480819405[0m ×2 + 14.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007106534508129 + 14.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007106534508129[0m ×2 + 14.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005676073059828 + 14.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005676073059828[0m ×2 + 14.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006637370744657 + 14.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006637370744657[0m ×2 + 14.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006984116159568 + 14.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006984116159568[0m ×2 + 14.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005316101940224 + 14.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005316101940224[0m ×2 + 14.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004644575925162 + 14.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004644575925162[0m ×2 + 14.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005711855016879 + 14.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005711855016879[0m ×2 + 14.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007459553980163 + 14.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007459553980163[0m ×2 + 14.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004441572507313 + 14.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004441572507313[0m ×2 + 14.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004130079049094 + 14.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004130079049094[0m ×2 + 14.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005323177033214 + 14.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005323177033214[0m ×2 + 14.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005956338803758 + 14.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005956338803758[0m ×2 + 14.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006257772815362 + 14.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006257772815362[0m ×2 + 14.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008832277900533 + 14.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008832277900533[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008837883505462 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008837883505462[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007605957436079 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007605957436079[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006963650033445 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006963650033445[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006337580461745 + 14.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006337580461745[0m ×2 + 14.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005971185769117 + 14.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005971185769117[0m ×2 + 14.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006362918010975 + 14.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006362918010975[0m ×2 + 14.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005916657491573 + 14.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005916657491573[0m ×2 + 14.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005594520437246 + 14.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005594520437246[0m ×2 + 14.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003087368091820 + 14.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003087368091820[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003515577280028 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003515577280028[0m ×2 + 14.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006883640471738 + 14.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006883640471738[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006918723230214 + 14.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006918723230214[0m ×2 + 14.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006687112859936 + 14.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006687112859936[0m ×2 + 14.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007519316688767 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007519316688767[0m ×2 + 14.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005366405766432 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005366405766432[0m ×2 + 14.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005585079254232 + 14.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005585079254232[0m ×2 + 14.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006430388061088 + 14.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006430388061088[0m ×2 + 14.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005657677728481 + 14.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005657677728481[0m ×2 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005354470154837 + 14.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005354470154837[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006714146613526 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006714146613526[0m ×2 + 14.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006799962409051 + 14.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006799962409051[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005732894701164 + 14.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005732894701164[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006881815150167 + 14.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006881815150167[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005332466338415 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005332466338415[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005775931877864 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005775931877864[0m ×2 + 15.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531323268521 + 15.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531323268521[0m ×2 + 15.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006228936506938 + 15.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006228936506938[0m ×2 + 15.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005489852640916 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005489852640916[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005684505553237 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005684505553237[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006225554015278 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006225554015278[0m ×2 + 15.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005287856683349 + 15.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005287856683349[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005479485465538 + 15.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005479485465538[0m ×2 + 15.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006311730948712 + 15.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006311730948712[0m ×2 + 15.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003272070204609 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003272070204609[0m ×2 + 15.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007023281421920 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007023281421920[0m ×2 + 15.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000700897613562 + 15.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000700897613562[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009756350621685 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009756350621685[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004248020060043 + 15.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004248020060043[0m ×2 + 15.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006459230881371 + 15.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006459230881371[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000514386703694 + 15.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000514386703694[0m ×2 + 15.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008329088351321 + 15.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008329088351321[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000369286257968 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000369286257968[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007090424669509 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007090424669509[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005025067900910 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005025067900910[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006406872415850 + 15.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006406872415850[0m ×2 + 15.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361088579408 + 15.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361088579408[0m ×2 + 15.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013041260047106 + 15.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013041260047106[0m ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457731 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457731 ms (missed cycles : 2).[0m ×2 + 15.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009931349364650 + 15.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009931349364650[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001849040584000 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001849040584000[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005838934714284 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005838934714284[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002198303558401 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002198303558401[0m ×2 + 15.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006194486995335 + 15.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006194486995335[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000458139016652 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000458139016652[0m ×2 + 15.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008003758416821 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008003758416821[0m ×2 + 15.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001628598876727 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001628598876727[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007459303245252 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007459303245252[0m ×2 + 15.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003040232401767 + 15.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003040232401767[0m ×2 + 15.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005866386150547 + 15.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005866386150547[0m ×2 + 15.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004365740618993 + 15.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004365740618993[0m ×2 + 15.35sWARNcontroller_managerOverrun might occur, Total time : 5687.191 us (Expected < 1666.667 us) --> Read time : 218.079 us, Update time : 4878.877 us, Write time : 590.235 us + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002620523271390 + 15.36sWARNros2_control_nodeOverrun might occur, Total time : 5687.191 us (Expected < 1666.667 us) --> Read time : 218.079 us, Update time : 4878.877 us, Write time : 590.235 us[0m ×2 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002620523271390[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000761596687862 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000761596687862[0m ×2 + 15.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008713561906867 + 15.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008713561906867[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005935023249542 + 15.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005935023249542[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000208955714580 + 15.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000208955714580[0m ×2 + 15.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005611094071664 + 15.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005611094071664[0m ×2 + 15.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001708610179559 + 15.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001708610179559[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835119970430 + 15.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835119970430[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003055085310231 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003055085310231[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006216212754764 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006216212754764[0m ×2 + 15.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000552745447518 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000552745447518[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005840066485018 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005840066485018[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000594692818891 + 15.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000594692818891[0m ×2 + 15.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006016213788942 + 15.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006016213788942[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001756413634875 + 15.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001756413634875[0m ×2 + 15.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007318975170549 + 15.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007318975170549[0m ×2 + 15.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000050915711856 + 15.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000050915711856[0m ×2 + 15.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006828278430178 + 15.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006828278430178[0m ×2 + 15.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001842219704579 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001842219704579[0m ×2 + 15.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009468424444839 + 15.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009468424444839[0m ×2 + 15.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007014630195024 + 15.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007014630195024[0m ×2 + 15.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000666484598461 + 15.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000666484598461[0m ×2 + 15.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003643262220118 + 15.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003643262220118[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000853914286828 + 15.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000853914286828[0m ×2 + 15.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003508496819077 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003508496819077[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003877885948015 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003877885948015[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001431914090463 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001431914090463[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005018294420428 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005018294420428[0m ×2 + 15.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000318730046384 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000318730046384[0m ×2 + 15.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470236504075 + 15.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470236504075[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001827839582219 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001827839582219[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004521080459292 + 15.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004521080459292[0m ×2 + 15.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000839723382364 + 15.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000839723382364[0m ×2 + 15.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003582016532188 + 15.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003582016532188[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002704788323586 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002704788323586[0m ×2 + 15.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910331515237 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910331515237[0m ×2 + 15.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000531611738393 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000531611738393[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975920161660 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975920161660[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017525762144 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017525762144[0m ×2 + 15.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003871725687737 + 15.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003871725687737[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000707457663816 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000707457663816[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005331458628554 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005331458628554[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001354978036095 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001354978036095[0m ×2 + 15.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002142655608633 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002142655608633[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001633307107995 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001633307107995[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001999998592129 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001999998592129[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001296265965299 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001296265965299[0m ×2 + 15.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001423314208452 + 15.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001423314208452[0m ×2 + 15.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000698460134188 + 15.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000698460134188[0m ×2 + 15.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881224178546 + 15.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881224178546[0m ×2 + 15.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000479826796016 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000479826796016[0m ×2 + 15.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002508815827165 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002508815827165[0m ×2 + 15.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000565479841048 + 15.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000565479841048[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003884198482620 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003884198482620[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000596231922075 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000596231922075[0m ×2 + 15.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003157391672668 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003157391672668[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001006219880510 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001006219880510[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002484114577166 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002484114577166[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001901345899733 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001901345899733[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000614974469834 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000614974469834[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001461342977765 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001461342977765[0m ×2 + 15.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000918477966695 + 15.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000918477966695[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001454015878987 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001454015878987[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003293176223545 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003293176223545[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000414888263627 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000414888263627[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002718333396066 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002718333396066[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122507680734 + 16.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122507680734[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976264374422 + 16.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976264374422[0m ×2 + 16.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001398360513629 + 16.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001398360513629[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001355869992972 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001355869992972[0m ×2 + 16.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001753611362246 + 16.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001753611362246[0m ×2 + 16.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000380394419615 + 16.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000380394419615[0m ×2 + 16.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001500673331448 + 16.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001500673331448[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000966565596358 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000966565596358[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001050401274578 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001050401274578[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001412756223187 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001412756223187[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000890218588837 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000890218588837[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002216766302306 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002216766302306[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001780835395638 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001780835395638[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000814067966896 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000814067966896[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000429946613355 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000429946613355[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002773307789186 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002773307789186[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001309871955850 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001309871955850[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001049226363186 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001049226363186[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000799981589378 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000799981589378[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001724350700161 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001724350700161[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001582826617 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001582826617[0m ×2 + 16.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001902133523030 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001902133523030[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001085210345109 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001085210345109[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001300586687797 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001300586687797[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000225116831575 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000225116831575[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002096629674204 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002096629674204[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001078479241083 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001078479241083[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000115357985547 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000115357985547[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001408701690126 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001408701690126[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000421823132045 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000421823132045[0m ×2 + 16.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001454920350638 + 16.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001454920350638[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690255316132 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690255316132[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000187547051818 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000187547051818[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001029755352862 + 16.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001029755352862[0m ×2 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897294 ms (missed cycles : 2). + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000390932640010 + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897294 ms (missed cycles : 2).[0m ×2 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000390932640010[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000750795624371 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000750795624371[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000882508021608 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000882508021608[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001189331247883 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001189331247883[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000738833891867 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000738833891867[0m ×2 + 16.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001244214141958 + 16.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001244214141958[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000146299777722 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000146299777722[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001334700147155 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001334700147155[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000270687464843 + 16.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000270687464843[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001728299565314 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001728299565314[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001192482562495 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001192482562495[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000571673633845 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000571673633845[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000624133457859 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000624133457859[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001196051533081 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001196051533081[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001235637485629 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001235637485629[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000495877522745 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000495877522745[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000566177991905 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000566177991905[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001123341152486 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001123341152486[0m ×2 + 16.50sWARNcontroller_managerOverrun might occur, Total time : 3929.906 us (Expected < 1666.667 us) --> Read time : 217.909 us, Update time : 2922.154 us, Write time : 789.843 us + 16.50sWARNros2_control_nodeOverrun might occur, Total time : 3929.906 us (Expected < 1666.667 us) --> Read time : 217.909 us, Update time : 2922.154 us, Write time : 789.843 us[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001110726483247 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001110726483247[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000395780761908 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000395780761908[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000863509425230 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000863509425230[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001092636574289 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001092636574289[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000325589675041 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000325589675041[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001420540529141 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001420540529141[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025906941014 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025906941014[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000993328242090 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000993328242090[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000102021515441 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000102021515441[0m ×2 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001019217213454 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001019217213454[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000628316568802 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000628316568802[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000268047023944 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000268047023944[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000708024085593 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000708024085593[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000348402946496 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000348402946496[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000483654513996 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000483654513996[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000576528883418 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000576528883418[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000487068111744 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000487068111744[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000714517119117 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000714517119117[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000195408086194 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000195408086194[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000918323122987 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000918323122987[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011762950848 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011762950848[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000923803519822 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000923803519822[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161029684035 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161029684035[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000700971606777 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000700971606777[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000398608724900 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000398608724900[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000444354724464 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000444354724464[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000581720501565 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000581720501565[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000439596344382 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000439596344382[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000203004592496 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000203004592496[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000759242587095 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000759242587095[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000600803335991 + 16.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000600803335991[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000340653025244 + 16.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000340653025244[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000300296408285 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000300296408285[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000725489955426 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000725489955426[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000692017398671 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000692017398671[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004108977669 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004108977669[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000557670835702 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000557670835702[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000161986472937 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000161986472937[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000533263118419 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000533263118419[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000482540159167 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000482540159167[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000099752856735 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000099752856735[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000344485579881 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000344485579881[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000666048250073 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000666048250073[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000676526152748 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000676526152748[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000094577013021 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000094577013021[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000784036252309 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000784036252309[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000320076614966 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000320076614966[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000312185451285 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000312185451285[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000197901387337 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000197901387337[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000386814278967 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000386814278967[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091920604286 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091920604286[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000527739613945 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000527739613945[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000249459844828 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000249459844828[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000240594682302 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000240594682302[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000385799847209 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000385799847209[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000246863844718 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000246863844718[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000325982490007 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000325982490007[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000192567200413 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000192567200413[0m ×2 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000407083867799 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000407083867799[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000537843134315 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000537843134315[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000255445054414 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000255445054414[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000242227232386 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000242227232386[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000300621395096 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000300621395096[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000329492227809 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000329492227809[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000105592072849 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000105592072849[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000427837661651 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000427837661651[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000132938409269 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000132938409269[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000452032389782 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000452032389782[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000250089612749 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000250089612749[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000186526935625 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000186526935625[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149887000015 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149887000015[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550253109111 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550253109111[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000146137469021 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000146137469021[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000354650545396 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000354650545396[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115588452613 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115588452613[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000357371471093 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000357371471093[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051682253067 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051682253067[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000237673836035 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000237673836035[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000299943656300 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000299943656300[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012642635927 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012642635927[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000291135742730 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000291135742730[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000182486952907 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000182486952907[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000257595624687 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000257595624687[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000288845062712 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000288845062712[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000053604803023 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000053604803023[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000403717622036 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000403717622036[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032938025680 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032938025680[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000315397115763 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000315397115763[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008108641219 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008108641219[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000411886888683 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000411886888683[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020319213271 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020319213271[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000247674072650 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000247674072650[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032594648468 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032594648468[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000384850886076 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000384850886076[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056586849067 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056586849067[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000238993645207 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000238993645207[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066819717239 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066819717239[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000225344596096 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000225344596096[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030453766350 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.541448 ms (missed cycles : 7). + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030453766350[0m ×2 + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.541448 ms (missed cycles : 7).[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000317504400245 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000317504400245[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138965128933 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138965128933[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000136989316405 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000136989316405[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087838640392 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087838640392[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000269229089496 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000269229089496[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000247557002195 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000247557002195[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000129839140791 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000129839140791[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080574987003 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080574987003[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000232043570069 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000232043570069[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000255592138282 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000255592138282[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070975456170 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070975456170[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000140284926079 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000140284926079[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000215177893261 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000215177893261[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000271548285657 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000271548285657[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009944043931 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009944043931[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000237565628579 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000237565628579[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055241500141 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055241500141[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114398635892 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114398635892[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000084547787945 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000084547787945[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000209645888115 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000209645888115[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000241019122496 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000241019122496[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042263118112 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042263118112[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000204285642556 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000204285642556[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070312695428 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070312695428[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000146634523572 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000146634523572[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044558219396 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044558219396[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000192908024176 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000192908024176[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059385300264 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059385300264[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000137168567687 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000137168567687[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123806348093 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123806348093[0m ×2 + 17.69sWARNcontroller_managerOverrun might occur, Total time : 5618.098 us (Expected < 1666.667 us) --> Read time : 223.189 us, Update time : 4756.572 us, Write time : 638.337 us + 17.70sWARNros2_control_nodeOverrun might occur, Total time : 5618.098 us (Expected < 1666.667 us) --> Read time : 223.189 us, Update time : 4756.572 us, Write time : 638.337 us[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153442828508 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153442828508[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000045009359193 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000045009359193[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000151478594419 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000151478594419[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092886776910 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092886776910[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000110757435866 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000110757435866[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102863401631 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102863401631[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000111496943257 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000111496943257[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059853722789 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059853722789[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000181727089962 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000181727089962[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000112504097665 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000112504097665[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087060373349 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087060373349[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028623856791 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028623856791[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000134805895646 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000134805895646[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067467876596 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067467876596[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000102047107735 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000102047107735[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000111490858775 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000111490858775[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056754796493 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056754796493[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000058027664612 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000058027664612[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000167257817108 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000167257817108[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077807443683 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077807443683[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076317985184 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076317985184[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049542971291 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049542971291[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153029558095 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153029558095[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000143355923561 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000143355923561[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000473602061 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000473602061[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000147054943010 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000147054943010[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000036434672626 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000036434672626[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077607303999 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077607303999[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000050028252767 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000050028252767[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000147231333102 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000147231333102[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000073109045532 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000073109045532[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082719724801 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082719724801[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000067852652682 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000067852652682[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049473449779 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049473449779[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000109506524941 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000109506524941[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050294341179 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050294341179[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054148255155 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054148255155[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102860830681 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102860830681[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000143269037486 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000143269037486[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021070214887 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021070214887[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000158123459693 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000158123459693[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000428083988 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000428083988[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000097518234015 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000097518234015[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019275483646 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019275483646[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000146510532908 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000146510532908[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160812709712 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160812709712[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021868775599 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021868775599[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000140362729891 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000140362729891[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000093132512421 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000093132512421[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005083646915 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005083646915[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000140333199178 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000140333199178[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072807107882 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072807107882[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014033479632 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014033479632[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000098243451538 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000098243451538[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034305522858 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034305522858[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054984394127 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054984394127[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037295448016 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037295448016[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050293388638 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050293388638[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059862093651 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059862093651[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016317021368 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016317021368[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080653821475 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080653821475[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023154067012 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023154067012[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076431564128 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076431564128[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050203720822 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050203720822[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007703785438 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007703785438[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077816686604 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077816686604[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024611363340 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024611363340[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061262984877 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061262984877[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021645759996 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021645759996[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000074605251554 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000074605251554[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059147446868 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059147446868[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026083034976 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026083034976[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041655361602 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041655361602[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064256823963 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064256823963[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000099467696943 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000099467696943[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037728716843 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037728716843[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000053462915601 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000053462915601[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050508597911 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050508597911[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001036990770 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001036990770[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070147527455 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070147527455[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018189795055 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018189795055[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052412283743 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052412283743[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045716432055 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045716432055[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002971096325 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002971096325[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000071260491454 + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368369 ms (missed cycles : 3). + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000071260491454[0m ×2 + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368369 ms (missed cycles : 3).[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009935531422 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009935531422[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061087027353 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061087027353[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034215274956 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034215274956[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027281398069 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027281398069[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022130019326 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022130019326[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059948178090 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059948178090[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059609217967 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059609217967[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019444485433 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019444485433[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036749233463 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036749233463[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047213718801 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047213718801[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008058898338 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008058898338[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049424425615 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049424425615[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017542688153 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017542688153[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047721407398 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047721407398[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050932450836 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050932450836[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000036228101148 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000036228101148[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005561993704 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005561993704[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000050469960500 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000050469960500[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023412341521 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023412341521[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024021435869 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024021435869[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015021689789 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015021689789[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049201565595 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049201565595[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044835390937 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044835390937[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024633031477 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024633031477[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026048383493 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026048383493[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041587504358 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041587504358[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033815754903 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033815754903[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022193092319 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022193092319[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009865760906 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009865760906[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038091163158 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038091163158[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020470188905 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020470188905[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019618943072 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019618943072[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033298366619 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033298366619[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003360612060 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003360612060[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034635734662 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034635734662[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023440352985 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023440352985[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011326077401 + 18.84sWARNcontroller_managerOverrun might occur, Total time : 4164.887 us (Expected < 1666.667 us) --> Read time : 346.374 us, Update time : 2942.815 us, Write time : 875.698 us + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011326077401[0m ×2 + 18.84sWARNros2_control_nodeOverrun might occur, Total time : 4164.887 us (Expected < 1666.667 us) --> Read time : 346.374 us, Update time : 2942.815 us, Write time : 875.698 us[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022675406402 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022675406402[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042664912708 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042664912708[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048921179712 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048921179712[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004652000676 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004652000676[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000060567066272 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000060567066272[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031276287779 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031276287779[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004080239691 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004080239691[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000045096176753 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000045096176753[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000036283110984 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000036283110984[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000197442905021 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000197442905021[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031710140423 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031710140423[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011468775071 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011468775071[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024653826652 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024653826652[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015138219456 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015138219456[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028009287730 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028009287730[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023460254692 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023460254692[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000835898187 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000835898187[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033945829886 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033945829886[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021375922757 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021375922757[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006867810800 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006867810800[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030228834937 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030228834937[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019172691462 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019172691462[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014835855853 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014835855853[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026893384232 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026893384232[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008550694893 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008550694893[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014563632256 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014563632256[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027665471613 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027665471613[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031972526438 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031972526438[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001016704953 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001016704953[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031407521506 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031407521506[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024645008989 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024645008989[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000279266137 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000279266137[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022597374036 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022597374036[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010562499600 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010562499600[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023400887760 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023400887760[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006990613355 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006990613355[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030342268843 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030342268843[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003940752512 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003940752512[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014721162163 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014721162163[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014682323831 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014682323831[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017642782996 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017642782996[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006982045031 + 19.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006982045031[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013327252350 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013327252350[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018276463204 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018276463204[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015215692411 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015215692411[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000228599994 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000228599994[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023487993540 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023487993540[0m ×2 + 19.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018204754476 + 19.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018204754476[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016874963955 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016874963955[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001280854051 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001280854051[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035815511711 + 19.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035815511711[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019277155506 + 19.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019277155506[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002889999282 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002889999282[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025380422304 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025380422304[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022653060346 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022653060346[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001515853816 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001515853816[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029509171549 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029509171549[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015547895317 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015547895317[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002355180037 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002355180037[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021739858527 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021739858527[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032060177791 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032060177791[0m ×2 + 19.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007100940180 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007100940180[0m ×2 + 19.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028094300054 + 19.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028094300054[0m ×2 + 19.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012846143766 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012846143766[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010714493185 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010714493185[0m ×2 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003904151327 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003904151327[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015126650362 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015126650362[0m ×2 + 19.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726414 ms (missed cycles : 2). + 19.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726414 ms (missed cycles : 2).[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009867577846 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009867577846[0m ×2 + 19.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006702970136 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006702970136[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011278844679 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011278844679[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008908112756 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008908112756[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012478018616 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012478018616[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013601088943 + 19.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013601088943[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001700642190 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001700642190[0m ×2 + 19.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011428362651 + 19.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011428362651[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005520781298 + 19.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005520781298[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013496239386 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013496239386[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002194647533 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002194647533[0m ×2 + 19.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014958461308 + 19.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014958461308[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002569089389 + 19.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002569089389[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014910447075 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014910447075[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005583082464 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005583082464[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014025165228 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014025165228[0m ×2 + 19.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003550906074 + 19.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003550906074[0m ×2 + 19.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009076138792 + 19.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009076138792[0m ×2 + 19.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003773776732 + 19.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003773776732[0m ×2 + 19.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011592060770 + 19.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011592060770[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006779070288 + 19.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006779070288[0m ×2 + 19.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008881412015 + 19.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008881412015[0m ×2 + 19.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011169597041 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011169597041[0m ×2 + 19.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004621277690 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004621277690[0m ×2 + 19.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007863319473 + 19.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007863319473[0m ×2 + 19.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012337710323 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012337710323[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015901402347 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015901402347[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000932222241 + 19.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000932222241[0m ×2 + 19.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015376606342 + 19.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015376606342[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003143677584 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003143677584[0m ×2 + 19.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009136732798 + 19.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009136732798[0m ×2 + 19.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004298998638 + 19.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004298998638[0m ×2 + 19.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007370459271 + 19.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007370459271[0m ×2 + 19.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010959529424 + 19.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010959529424[0m ×2 + 19.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001669916328 + 19.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001669916328[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005387123256 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005387123256[0m ×2 + 19.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012608228749 + 19.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012608228749[0m ×2 + 19.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013119674443 + 19.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013119674443[0m ×2 + 19.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000833144455 + 19.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000833144455[0m ×2 + 19.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016628366872 + 19.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016628366872[0m ×2 + 19.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009153086993 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009153086993[0m ×2 + 19.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000907618852 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000907618852[0m ×2 + 19.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012919994443 + 19.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012919994443[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003568809825 + 19.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003568809825[0m ×2 + 19.88sWARNcontroller_managerOverrun might occur, Total time : 1951.993 us (Expected < 1666.667 us) --> Read time : 214.799 us, Update time : 687.399 us, Write time : 1049.795 us + 19.88sWARNros2_control_nodeOverrun might occur, Total time : 1951.993 us (Expected < 1666.667 us) --> Read time : 214.799 us, Update time : 687.399 us, Write time : 1049.795 us[0m ×2 + 19.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007802601707 + 19.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007802601707[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006811136614 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006811136614[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004151489612 + 19.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004151489612[0m ×2 + 19.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003471023320 + 19.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003471023320[0m ×2 + 19.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010771805466 + 19.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010771805466[0m ×2 + 19.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004966521877 + 19.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004966521877[0m ×2 + 19.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002281627031 + 19.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002281627031[0m ×2 + 19.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011437573396 + 19.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011437573396[0m ×2 + 19.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008394592089 + 19.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008394592089[0m ×2 + 19.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000353913948 + 19.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000353913948[0m ×2 + 19.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010302750207 + 19.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010302750207[0m ×2 + 19.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012139043307 + 19.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012139043307[0m ×2 + 20.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003273140891 + 20.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003273140891[0m ×2 + 20.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009614460108 + 20.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009614460108[0m ×2 + 20.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000847981943 + 20.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000847981943[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008453039380 + 20.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008453039380[0m ×2 + 20.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002465130291 + 20.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002465130291[0m ×2 + 20.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012774216587 + 20.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012774216587[0m ×2 + 20.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013689357473 + 20.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013689357473[0m ×2 + 20.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001828729166 + 20.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001828729166[0m ×2 + 20.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005970455843 + 20.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005970455843[0m ×2 + 20.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005402705592 + 20.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005402705592[0m ×2 + 20.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000448064329 + 20.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000448064329[0m ×2 + 20.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008469174163 + 20.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008469174163[0m ×2 + 20.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005774545406 + 20.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005774545406[0m ×2 + 20.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001827529285 + 20.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001827529285[0m ×2 + 20.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003183974565 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003183974565[0m ×2 + 20.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004213094787 + 20.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004213094787[0m ×2 + 20.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003723560463 + 20.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003723560463[0m ×2 + 20.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002349384440 + 20.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002349384440[0m ×2 + 20.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003984840904 + 20.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003984840904[0m ×2 + 20.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003315431289 + 20.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003315431289[0m ×2 + 20.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004182785001 + 20.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004182785001[0m ×2 + 20.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004988557679 + 20.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004988557679[0m ×2 + 20.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001615201806 + 20.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001615201806[0m ×2 + 20.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003217851666 + 20.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003217851666[0m ×2 + 20.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003049890160 + 20.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003049890160[0m ×2 + 20.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002419966017 + 20.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002419966017[0m ×2 + 20.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004907995671 + 20.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004907995671[0m ×2 + 20.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004304848626 + 20.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004304848626[0m ×2 + 20.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002075537198 + 20.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002075537198[0m ×2 + 20.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001785151851 + 20.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001785151851[0m ×2 + 20.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007132090919 + 20.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007132090919[0m ×2 + 20.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006436714757 + 20.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006436714757[0m ×2 + 20.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000225630138 + 20.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000225630138[0m ×2 + 20.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008511695736 + 20.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008511695736[0m ×2 + 20.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000887899331 + 20.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000887899331[0m ×2 + 20.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005364106705 + 20.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005364106705[0m ×2 + 20.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001656534857 + 20.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001656534857[0m ×2 + 20.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004991237786 + 20.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004991237786[0m ×2 + 20.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001010420405 + 20.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001010420405[0m ×2 + 20.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003256022242 + 20.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003256022242[0m ×2 + 20.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001197236674 + 20.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001197236674[0m ×2 + 20.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006829592145 + 20.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006829592145[0m ×2 + 20.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001538976077 + 20.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001538976077[0m ×2 + 20.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004488366463 + 20.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004488366463[0m ×2 + 20.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003202734106 + 20.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003202734106[0m ×2 + 20.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001400857158 + 20.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001400857158[0m ×2 + 20.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003346492479 + 20.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003346492479[0m ×2 + 20.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002192778000 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002192778000[0m ×2 + 20.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003342177619 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003342177619[0m ×2 + 20.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003563408923 + 20.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003563408923[0m ×2 + 20.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273340 ms (missed cycles : 3). + 20.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273340 ms (missed cycles : 3).[0m ×2 + 20.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000426838666 + 20.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000426838666[0m ×2 + 20.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005318745377 + 20.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005318745377[0m ×2 + 20.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001018525289 + 20.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001018525289[0m ×2 + 20.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004824285705 + 20.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004824285705[0m ×2 + 20.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002881174238 + 20.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002881174238[0m ×2 + 20.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000611066722 + 20.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000611066722[0m ×2 + 20.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002511723617 + 20.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002511723617[0m ×2 + 20.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002227361953 + 20.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002227361953[0m ×2 + 20.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002670523078 + 20.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002670523078[0m ×2 + 20.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001244512453 + 20.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001244512453[0m ×2 + 20.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002758655066 + 20.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002758655066[0m ×2 + 20.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001929628662 + 20.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001929628662[0m ×2 + 20.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002745699418 + 20.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002745699418[0m ×2 + 20.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003070063600 + 20.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003070063600[0m ×2 + 20.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000424250310 + 20.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000424250310[0m ×2 + 20.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004461977733 + 20.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004461977733[0m ×2 + 20.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000645271384 + 20.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000645271384[0m ×2 + 20.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003250280934 + 20.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003250280934[0m ×2 + 20.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002238801698 + 20.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002238801698[0m ×2 + 20.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001399893953 + 20.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001399893953[0m ×2 + 20.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001470959165 + 20.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001470959165[0m ×2 + 20.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003438303339 + 20.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003438303339[0m ×2 + 20.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004891828570 + 20.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004891828570[0m ×2 + 20.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002067674223 + 20.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002067674223[0m ×2 + 20.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001096228945 + 20.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001096228945[0m ×2 + 20.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003144038114 + 20.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003144038114[0m ×2 + 20.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002247641908 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002247641908[0m ×2 + 20.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002001020555 + 20.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002001020555[0m ×2 + 20.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002200172503 + 20.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002200172503[0m ×2 + 20.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002618517890 + 20.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002618517890[0m ×2 + 20.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000995073697 + 20.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000995073697[0m ×2 + 20.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001130802237 + 20.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001130802237[0m ×2 + 20.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001883277661 + 20.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001883277661[0m ×2 + 20.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001761637104 + 20.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001761637104[0m ×2 + 20.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000842512830 + 20.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000842512830[0m ×2 + 20.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002066467471 + 20.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002066467471[0m ×2 + 20.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001178101492 + 20.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001178101492[0m ×2 + 20.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002281913676 + 20.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002281913676[0m ×2 + 20.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000721856755 + 20.88sWARNcontroller_managerOverrun might occur, Total time : 2348.789 us (Expected < 1666.667 us) --> Read time : 322.923 us, Update time : 888.468 us, Write time : 1137.398 us + 20.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000721856755[0m ×2 + 20.89sWARNros2_control_nodeOverrun might occur, Total time : 2348.789 us (Expected < 1666.667 us) --> Read time : 322.923 us, Update time : 888.468 us, Write time : 1137.398 us[0m ×2 + 20.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002116721185 + 20.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002116721185[0m ×2 + 20.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001266829136 + 20.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001266829136[0m ×2 + 20.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003028990370 + 20.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003028990370[0m ×2 + 20.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003272286260 + 20.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003272286260[0m ×2 + 20.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000202560261 + 20.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000202560261[0m ×2 + 20.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003476697592 + 20.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003476697592[0m ×2 + 20.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002459106622 + 20.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002459106622[0m ×2 + 20.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000011177311485 + 20.95sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000011177311485[0m ×2 + 20.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003381154777 + 20.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003381154777[0m ×2 + 20.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001901610633 + 20.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001901610633[0m ×2 + 20.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001521289699 + 20.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001521289699[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001275626580 + 20.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001275626580[0m ×2 + 20.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001229452246 + 20.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001229452246[0m ×2 + 20.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001852080398 + 20.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001852080398[0m ×2 + 21.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000725919649 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000725919649[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000690958832 + 21.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000690958832[0m ×2 + 21.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002466487977 + 21.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002466487977[0m ×2 + 21.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000010288571151 + 21.04sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000010288571151[0m ×2 + 21.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001643477049 + 21.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001643477049[0m ×2 + 21.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000292070086 + 21.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000292070086[0m ×2 + 21.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002927016524 + 21.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002927016524[0m ×2 + 21.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000505554873 + 21.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000505554873[0m ×2 + 21.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001910657615 + 21.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001910657615[0m ×2 + 21.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000650347554 + 21.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000650347554[0m ×2 + 21.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001886503788 + 21.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001886503788[0m ×2 + 21.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001985008974 + 21.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001985008974[0m ×2 + 21.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000400272522 + 21.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000400272522[0m ×2 + 21.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002446507402 + 21.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002446507402[0m ×2 + 21.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000424364201 + 21.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000424364201[0m ×2 + 21.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001738554601 + 21.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001738554601[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000440052935 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000440052935[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001083232780 + 21.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001083232780[0m ×2 + 21.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001501611570 + 21.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001501611570[0m ×2 + 21.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000803774863 + 21.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000803774863[0m ×2 + 21.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001172495172 + 21.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001172495172[0m ×2 + 21.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001355879549 + 21.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001355879549[0m ×2 + 21.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000634498417 + 21.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000634498417[0m ×2 + 21.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000771439564 + 21.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000771439564[0m ×2 + 21.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001182606222 + 21.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001182606222[0m ×2 + 21.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000981661573 + 21.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000981661573[0m ×2 + 21.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000639548151 + 21.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000639548151[0m ×2 + 21.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001074253474 + 21.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001074253474[0m ×2 + 21.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001306068555 + 21.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001306068555[0m ×2 + 21.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000228298449 + 21.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000228298449[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001575952752 + 21.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001575952752[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000289595034 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000289595034[0m ×2 + 21.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002823369394 + 21.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002823369394[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001502064189 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001502064189[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000180607963 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000180607963[0m ×2 + 21.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001145446989 + 21.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001145446989[0m ×2 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000201406699 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000201406699[0m ×2 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001323526128 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001323526128[0m ×2 + 21.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000874028854 + 21.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000874028854[0m ×2 + 21.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000504015094 + 21.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000504015094[0m ×2 + 21.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001415259136 + 21.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001415259136[0m ×2 + 21.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001033676017 + 21.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001033676017[0m ×2 + 21.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000427596073 + 21.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000427596073[0m ×2 + 21.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000608724845 + 21.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000608724845[0m ×2 + 21.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001866014481 + 21.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001866014481[0m ×2 + 21.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000622198620 + 21.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000622198620[0m ×2 + 21.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001278020478 + 21.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001278020478[0m ×2 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000548779132 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000548779132[0m ×2 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001386776618 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001386776618[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001006295665 + 21.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001006295665[0m ×2 + 21.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000006929331421 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000006929331421[0m ×2 + 21.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000877181539 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000877181539[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000744816048 + 21.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000744816048[0m ×2 + 21.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000525224777 + 21.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000525224777[0m ×2 + 21.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000603479308 + 21.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000603479308[0m ×2 + 21.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000321054400 + 21.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000321054400[0m ×2 + 21.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001632241805 + 21.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001632241805[0m ×2 + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107369 ms (missed cycles : 4). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107369 ms (missed cycles : 4).[0m ×2 + 21.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000387474234 + 21.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000387474234[0m ×2 + 21.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001319283644 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001319283644[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001098866159 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001098866159[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000288856408 + 21.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000288856408[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000600795271 + 21.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000600795271[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000739412074 + 21.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000739412074[0m ×2 + 21.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000350596170 + 21.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000350596170[0m ×2 + 21.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000742956937 + 21.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000742956937[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000446005023 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000446005023[0m ×2 + 21.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000700755965 + 21.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000700755965[0m ×2 + 21.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000612282224 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000612282224[0m ×2 + 21.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000983158221 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000983158221[0m ×2 + 21.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000862653807 + 21.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000862653807[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000486107117 + 21.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000486107117[0m ×2 + 21.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000293115868 + 21.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000293115868[0m ×2 + 21.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000857499417 + 21.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000857499417[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000552241070 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000552241070[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000421605546 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000421605546[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000344909611 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000344909611[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001327432354 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001327432354[0m ×2 + 21.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001038948091 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001038948091[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004087785001 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004087785001[0m ×2 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001252869004 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001252869004[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000295133869 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000295133869[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000313851682 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000313851682[0m ×2 + 21.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001118599844 + 21.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001118599844[0m ×2 + 21.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000341574493 + 21.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000341574493[0m ×2 + 21.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000769183820 + 21.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000769183820[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000732252667 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000732252667[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000195863019 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000195863019[0m ×2 + 21.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000389495291 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000389495291[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000689653052 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000689653052[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000843721285 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000843721285[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000376458990 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000376458990[0m ×2 + 21.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000481631969 + 21.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000481631969[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000323068761 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000323068761[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000632296543 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000632296543[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000228431769 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000228431769[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000331067352 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000331067352[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000701372456 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000701372456[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003358870349 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003358870349[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000486677349 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000486677349[0m ×2 + 21.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000124916718 + 21.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000124916718[0m ×2 + 21.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000784069747 + 21.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000784069747[0m ×2 + 21.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000623030843 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000623030843[0m ×2 + 21.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000361371077 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000361371077[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000394278775 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000394278775[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000364356986 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000364356986[0m ×2 + 22.00sWARNcontroller_managerOverrun might occur, Total time : 3128.673 us (Expected < 1666.667 us) --> Read time : 314.043 us, Update time : 104.685 us, Write time : 2709.945 us + 22.00sWARNros2_control_nodeOverrun might occur, Total time : 3128.673 us (Expected < 1666.667 us) --> Read time : 314.043 us, Update time : 104.685 us, Write time : 2709.945 us[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000180522650 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000180522650[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000541453844 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000541453844[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000317991240 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000317991240[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000404614224 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000404614224[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000534647975 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000534647975[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000204639595 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000204639595[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000311764712 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000311764712[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000407351066 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000407351066[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000192551922 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000192551922[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000644715367 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000644715367[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000418137544 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000418137544[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000301294321 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000301294321[0m ×2 + 22.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000129317870 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000129317870[0m ×2 + 22.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000472472240 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000472472240[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000295139956 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000295139956[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000221655080 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000221655080[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002803641256 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002803641256[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000679457636 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000679457636[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003066731187 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003066731187[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000312463401 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000312463401[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000356333105 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000356333105[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000284545089 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000284545089[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000486095171 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000486095171[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002031575778 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002031575778[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000359409563 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000359409563[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000356360129 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000356360129[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000241837969 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000241837969[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000459307067 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000459307067[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001447597922 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001447597922[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000420416089 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000420416089[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000321249887 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000321249887[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000279365491 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000279365491[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000163143535 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000163143535[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001823902110 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001823902110[0m ×2 + 22.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000561780956 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000561780956[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002236899983 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002236899983[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000253540312 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000253540312[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000307871083 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000307871083[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001390758932 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001390758932[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000245190097 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000245190097[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000221570506 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000221570506[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000162950789 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000162950789[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000450552076 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000450552076[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137007318 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137007318[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000308279070 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000308279070[0m ×2 + 22.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000120613371 + 22.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000120613371[0m ×2 + 22.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000207305369 + 22.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000207305369[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000368923487 + 22.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000368923487[0m ×2 + 22.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000185941671 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000185941671[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131503497 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131503497[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000346255498 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000346255498[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001894795752 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001894795752[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000250556338 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000250556338[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000348853709 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000348853709[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000166984687 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000166984687[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001438580207 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001438580207[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000257530863 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000257530863[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001266343986 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001266343986[0m ×2 + 22.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000418027058 + 22.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000418027058[0m ×2 + 22.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001835192873 + 22.57sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001835192873[0m ×2 + 22.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591578 ms (missed cycles : 3). + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000268318991 + 22.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591578 ms (missed cycles : 3).[0m ×2 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000268318991[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001822542138 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001822542138[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131486682 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131486682[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000295131086 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000295131086[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001448742599 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001448742599[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000925911479 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000925911479[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000261487989 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000261487989[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001135552250 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001135552250[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001321798726 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001321798726[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000193675780 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000193675780[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001130177420 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001130177420[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000178857720 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000178857720[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000286912815 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000286912815[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001103457801 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001103457801[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000957834552 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000957834552[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000256181050 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000256181050[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001180930454 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001180930454[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000161546013 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000161546013[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000190066851 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000190066851[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001467149641 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001467149641[0m ×2 + 22.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000164044886 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000164044886[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002053180766 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002053180766[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001631670345 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001631670345[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000189363282 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000189363282[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001456945961 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001456945961[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001480410641 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001480410641[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000143345878 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000143345878[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000323528658 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000323528658[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000856749394 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000856749394[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000742662020 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000742662020[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000153372985 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000153372985[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001342809188 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001342809188[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001133355249 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001133355249[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000126213309 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000126213309[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001277633655 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001277633655[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001346381514 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001346381514[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000165585094 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000165585094[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001217879733 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001217879733[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001249527492 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001249527492[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000182220816 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000182220816[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000146656163 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000146656163[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001188861893 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001188861893[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000978575724 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000978575724[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001029083284 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001029083284[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000213431781 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000213431781[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000810062885 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000810062885[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000824562600 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000824562600[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000689485972 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000689485972[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001045726071 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001045726071[0m ×2 + 23.08sWARNcontroller_managerOverrun might occur, Total time : 2166.812 us (Expected < 1666.667 us) --> Read time : 262.841 us, Update time : 92.364 us, Write time : 1811.607 us + 23.08sWARNros2_control_nodeOverrun might occur, Total time : 2166.812 us (Expected < 1666.667 us) --> Read time : 262.841 us, Update time : 92.364 us, Write time : 1811.607 us[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000124663091 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000124663091[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000558186796 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000558186796[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000569415251 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000569415251[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000468280811 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000468280811[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000437542981 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000437542981[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000890632030 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000890632030[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000711941688 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000711941688[0m ×2 + 23.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000718778634 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000718778634[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000575861662 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000575861662[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000462768491 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000462768491[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000377304167 + 23.17sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000377304167[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000333445848 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000333445848[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000724130328 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000724130328[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000143062993 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000143062993[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000709866441 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000709866441[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000709866827 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000709866827[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000564551709 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000564551709[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000449100980 ×2 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000449100980[0m ×4 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000357310847 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000357310847[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000284290913 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000284290913[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000143102583 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000143102583[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000128251835 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000128251835[0m ×2 + 23.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997193 ms (missed cycles : 2). + 23.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997193 ms (missed cycles : 2).[0m ×2 + 24.08sWARNcontroller_managerOverrun might occur, Total time : 1992.154 us (Expected < 1666.667 us) --> Read time : 776.233 us, Update time : 100.924 us, Write time : 1114.997 us + 24.08sWARNros2_control_nodeOverrun might occur, Total time : 1992.154 us (Expected < 1666.667 us) --> Read time : 776.233 us, Update time : 100.924 us, Write time : 1114.997 us[0m ×2 + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776686 ms (missed cycles : 2). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776686 ms (missed cycles : 2).[0m ×2 + 25.08sWARNcontroller_managerOverrun might occur, Total time : 2076.898 us (Expected < 1666.667 us) --> Read time : 214.099 us, Update time : 848.876 us, Write time : 1013.923 us + 25.09sWARNros2_control_nodeOverrun might occur, Total time : 2076.898 us (Expected < 1666.667 us) --> Read time : 214.099 us, Update time : 848.876 us, Write time : 1013.923 us[0m ×2 + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376088 ms (missed cycles : 4). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376088 ms (missed cycles : 4).[0m ×2 + 25.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781203649.87430382 seconds ×3 + 26.18sWARNcontroller_managerOverrun might occur, Total time : 3875.254 us (Expected < 1666.667 us) --> Read time : 304.533 us, Update time : 3104.401 us, Write time : 466.320 us + 26.18sWARNros2_control_nodeOverrun might occur, Total time : 3875.254 us (Expected < 1666.667 us) --> Read time : 304.533 us, Update time : 3104.401 us, Write time : 466.320 us[0m ×2 + 26.42sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1781203650.49731302 seconds. ×3 + 26.62sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 26.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.64sINFOros2_control_node[2026-06-11 18:47:30.711] [info] Received new action goal ×2 + 26.64sINFOros2_control_node[2026-06-11 18:47:30.711] [info] Accepted new action goal ×2 + 26.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368145 ms (missed cycles : 3). + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368145 ms (missed cycles : 3).[0m ×2 + 27.26sWARNcontroller_managerOverrun might occur, Total time : 2157.242 us (Expected < 1666.667 us) --> Read time : 371.566 us, Update time : 788.903 us, Write time : 996.773 us + 27.26sWARNros2_control_nodeOverrun might occur, Total time : 2157.242 us (Expected < 1666.667 us) --> Read time : 371.566 us, Update time : 788.903 us, Write time : 996.773 us[0m ×2 + 27.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137677 ms (missed cycles : 3). + 27.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137677 ms (missed cycles : 3).[0m ×2 + 28.32sWARNcontroller_managerOverrun might occur, Total time : 8859.796 us (Expected < 1666.667 us) --> Read time : 211.599 us, Update time : 8191.607 us, Write time : 456.590 us + 28.32sWARNros2_control_nodeOverrun might occur, Total time : 8859.796 us (Expected < 1666.667 us) --> Read time : 211.599 us, Update time : 8191.607 us, Write time : 456.590 us[0m ×2 + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656451 ms (missed cycles : 5). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656451 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 13.7s | 3 errors · 114 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1738.745 us (Expected < 1666.667 us) --> Read time : 291.692 us, Update time : 61.043 us, Write time : 1386.010 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1738.745 us (Expected < 1666.667 us) --> Read time : 291.692 us, Update time : 61.043 us, Write time : 1386.010 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484920 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484920 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 7221.761 us (Expected < 1666.667 us) --> Read time : 357.255 us, Update time : 6301.612 us, Write time : 562.894 us + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 7221.761 us (Expected < 1666.667 us) --> Read time : 357.255 us, Update time : 6301.612 us, Write time : 562.894 us[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.930563 ms (missed cycles : 10). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.930563 ms (missed cycles : 10).[0m ×2 + 1.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 1.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.71sINFOros2_control_node[2026-06-11 18:44:15.682] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-06-11 18:44:15.683] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2813.841 us (Expected < 1666.667 us) --> Read time : 341.675 us, Update time : 1951.034 us, Write time : 521.132 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2813.841 us (Expected < 1666.667 us) --> Read time : 341.675 us, Update time : 1951.034 us, Write time : 521.132 us[0m ×2 + 2.21sINFOros2_control_node[2026-06-11 18:44:16.178] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-06-11 18:44:16.178] [info] Canceling active goal... ×2 + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781203456.19404316 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.935008 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.935008 ms (missed cycles : 7).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781203456.77797389 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781203456.90811849 seconds ×3 + 3.16sWARNcontroller_managerOverrun might occur, Total time : 1789.677 us (Expected < 1666.667 us) --> Read time : 272.121 us, Update time : 63.383 us, Write time : 1454.173 us + 3.16sWARNros2_control_nodeOverrun might occur, Total time : 1789.677 us (Expected < 1666.667 us) --> Read time : 272.121 us, Update time : 63.383 us, Write time : 1454.173 us[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955072 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955072 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781203457.57641411 seconds. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.81sINFOros2_control_node[2026-06-11 18:44:17.781] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-06-11 18:44:17.781] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun might occur, Total time : 6807.533 us (Expected < 1666.667 us) --> Read time : 323.894 us, Update time : 5948.146 us, Write time : 535.493 us + 4.26sWARNros2_control_nodeOverrun might occur, Total time : 6807.533 us (Expected < 1666.667 us) --> Read time : 323.894 us, Update time : 5948.146 us, Write time : 535.493 us[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287781 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287781 ms (missed cycles : 6).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769084 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769084 ms (missed cycles : 5).[0m ×2 + 5.40sWARNcontroller_managerOverrun might occur, Total time : 2008.017 us (Expected < 1666.667 us) --> Read time : 329.824 us, Update time : 818.976 us, Write time : 859.217 us + 5.41sWARNros2_control_nodeOverrun might occur, Total time : 2008.017 us (Expected < 1666.667 us) --> Read time : 329.824 us, Update time : 818.976 us, Write time : 859.217 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956194 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956194 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun might occur, Total time : 2035.498 us (Expected < 1666.667 us) --> Read time : 322.474 us, Update time : 728.131 us, Write time : 984.893 us + 6.48sWARNros2_control_nodeOverrun might occur, Total time : 2035.498 us (Expected < 1666.667 us) --> Read time : 322.474 us, Update time : 728.131 us, Write time : 984.893 us[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141117 ms (missed cycles : 5). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141117 ms (missed cycles : 5).[0m ×2 + 7.52sWARNcontroller_managerOverrun might occur, Total time : 2851.453 us (Expected < 1666.667 us) --> Read time : 237.450 us, Update time : 69.863 us, Write time : 2544.140 us + 7.52sWARNros2_control_nodeOverrun might occur, Total time : 2851.453 us (Expected < 1666.667 us) --> Read time : 237.450 us, Update time : 69.863 us, Write time : 2544.140 us[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135673 ms (missed cycles : 6). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135673 ms (missed cycles : 6).[0m ×2 + 8.66sWARNcontroller_managerOverrun might occur, Total time : 1703.493 us (Expected < 1666.667 us) --> Read time : 341.885 us, Update time : 913.279 us, Write time : 448.329 us + 8.66sWARNros2_control_nodeOverrun might occur, Total time : 1703.493 us (Expected < 1666.667 us) --> Read time : 341.885 us, Update time : 913.279 us, Write time : 448.329 us[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574775 ms (missed cycles : 5). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574775 ms (missed cycles : 5).[0m ×2 + 10.60sWARNcontroller_managerOverrun might occur, Total time : 2214.696 us (Expected < 1666.667 us) --> Read time : 188.498 us, Update time : 1514.916 us, Write time : 511.282 us + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364376 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun might occur, Total time : 2214.696 us (Expected < 1666.667 us) --> Read time : 188.498 us, Update time : 1514.916 us, Write time : 511.282 us[0m ×2 + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364376 ms (missed cycles : 2).[0m ×2 + 10.86sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 10.86sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 10.86sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 11.16sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 11.16sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.17sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 11.18sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 11.19sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 11.24sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 11.27sINFOobjective_server_nodeFound path in 5 iterations (0.00522246 s). ×2 + 11.32sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 11.39sINFOros2_control_node[2026-06-11 18:44:25.362] [info] Received new action goal ×2 + 11.39sINFOros2_control_node[2026-06-11 18:44:25.362] [info] Accepted new action goal ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904921 ms (missed cycles : 2). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904921 ms (missed cycles : 2).[0m ×2 + 11.76sWARNcontroller_managerOverrun might occur, Total time : 2480.147 us (Expected < 1666.667 us) --> Read time : 211.399 us, Update time : 809.385 us, Write time : 1459.363 us + 11.76sWARNros2_control_nodeOverrun might occur, Total time : 2480.147 us (Expected < 1666.667 us) --> Read time : 211.399 us, Update time : 809.385 us, Write time : 1459.363 us[0m ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226089 ms (missed cycles : 3). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226089 ms (missed cycles : 3).[0m ×2 + 12.90sWARNcontroller_managerOverrun might occur, Total time : 3805.034 us (Expected < 1666.667 us) --> Read time : 210.659 us, Update time : 3121.604 us, Write time : 472.771 us + 12.90sWARNros2_control_nodeOverrun might occur, Total time : 3805.034 us (Expected < 1666.667 us) --> Read time : 210.659 us, Update time : 3121.604 us, Write time : 472.771 us[0m ×2 + 13.62sINFOros2_control_node[2026-06-11 18:44:27.595] [info] Received new action goal ×2 + 13.62sINFOros2_control_node[2026-06-11 18:44:27.595] [info] Accepted new action goal ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721967 ms (missed cycles : 3). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721967 ms (missed cycles : 3).[0m ×2 + 13.98sWARNcontroller_managerOverrun might occur, Total time : 2045.238 us (Expected < 1666.667 us) --> Read time : 242.660 us, Update time : 806.675 us, Write time : 995.903 us + 13.99sWARNros2_control_nodeOverrun might occur, Total time : 2045.238 us (Expected < 1666.667 us) --> Read time : 242.660 us, Update time : 806.675 us, Write time : 995.903 us[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822467 ms (missed cycles : 4). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822467 ms (missed cycles : 4).[0m ×2 + 15.11sWARNcontroller_managerOverrun might occur, Total time : 3962.101 us (Expected < 1666.667 us) --> Read time : 3317.953 us, Update time : 72.293 us, Write time : 571.855 us + 15.12sWARNros2_control_nodeOverrun might occur, Total time : 3962.101 us (Expected < 1666.667 us) --> Read time : 3317.953 us, Update time : 72.293 us, Write time : 571.855 us[0m ×2 + 15.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 15.32sINFOros2_control_node[2026-06-11 18:44:29.293] [info] Received new action goal ×2 + 15.32sINFOros2_control_node[2026-06-11 18:44:29.293] [info] Accepted new action goal ×2 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933279 ms (missed cycles : 3). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933279 ms (missed cycles : 3).[0m ×2 + 16.18sWARNcontroller_managerOverrun might occur, Total time : 9445.797 us (Expected < 1666.667 us) --> Read time : 220.950 us, Update time : 8587.040 us, Write time : 637.807 us + 16.18sWARNros2_control_nodeOverrun might occur, Total time : 9445.797 us (Expected < 1666.667 us) --> Read time : 220.950 us, Update time : 8587.040 us, Write time : 637.807 us[0m ×2 + 16.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781203470.56916690 seconds ×3 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.103085 ms (missed cycles : 7). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.103085 ms (missed cycles : 7).[0m ×2 + 17.20sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781203471.17452073 seconds. ×3 + 17.23sWARNcontroller_managerOverrun might occur, Total time : 1672.492 us (Expected < 1666.667 us) --> Read time : 242.090 us, Update time : 630.337 us, Write time : 800.065 us + 17.23sWARNros2_control_nodeOverrun might occur, Total time : 1672.492 us (Expected < 1666.667 us) --> Read time : 242.090 us, Update time : 630.337 us, Write time : 800.065 us[0m ×2 + 17.30sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781203471.27462053 seconds ×3 + 17.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736210 ms (missed cycles : 2). + 17.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736210 ms (missed cycles : 2).[0m ×2 + 17.89sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781203471.86785412 seconds. ×3 + 18.02sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 18.03sINFOros2_control_node[2026-06-11 18:44:32.002] [info] Received new action goal ×2 + 18.03sINFOros2_control_node[2026-06-11 18:44:32.002] [info] Accepted new action goal ×2 + 18.80sWARNcontroller_managerOverrun might occur, Total time : 6208.186 us (Expected < 1666.667 us) --> Read time : 227.329 us, Update time : 5411.433 us, Write time : 569.424 us + 18.80sWARNros2_control_nodeOverrun might occur, Total time : 6208.186 us (Expected < 1666.667 us) --> Read time : 227.329 us, Update time : 5411.433 us, Write time : 569.424 us[0m ×2 + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724223 ms (missed cycles : 3). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724223 ms (missed cycles : 3).[0m ×2 + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318414 ms (missed cycles : 3). + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318414 ms (missed cycles : 3).[0m ×2 + 20.00sWARNcontroller_managerOverrun might occur, Total time : 3906.588 us (Expected < 1666.667 us) --> Read time : 372.786 us, Update time : 2826.422 us, Write time : 707.380 us + 20.00sWARNros2_control_nodeOverrun might occur, Total time : 3906.588 us (Expected < 1666.667 us) --> Read time : 372.786 us, Update time : 2826.422 us, Write time : 707.380 us[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.4s | 3 errors · 111 warnings · 173 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.973935 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.973935 ms (missed cycles : 4).[0m ×2 + 0.18sWARNcontroller_managerOverrun might occur, Total time : 6496.660 us (Expected < 1666.667 us) --> Read time : 229.440 us, Update time : 45.152 us, Write time : 6222.068 us + 0.19sWARNros2_control_nodeOverrun might occur, Total time : 6496.660 us (Expected < 1666.667 us) --> Read time : 229.440 us, Update time : 45.152 us, Write time : 6222.068 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991026 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991026 ms (missed cycles : 4).[0m ×2 + 1.25sWARNcontroller_managerOverrun might occur, Total time : 2060.639 us (Expected < 1666.667 us) --> Read time : 210.399 us, Update time : 1416.741 us, Write time : 433.499 us + 1.25sWARNros2_control_nodeOverrun might occur, Total time : 2060.639 us (Expected < 1666.667 us) --> Read time : 210.399 us, Update time : 1416.741 us, Write time : 433.499 us[0m ×2 + 1.99sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 1.99sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (5.61e-07 s). ×2 + 2.00sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 2.01sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 2.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 2.09sINFOobjective_server_nodeFound path in 5 iterations (0.00717264 s). ×2 + 2.13sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308795 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308795 ms (missed cycles : 4).[0m ×2 + 2.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.17sINFOros2_control_node[2026-06-11 18:45:02.927] [info] Received new action goal ×2 + 2.17sINFOros2_control_node[2026-06-11 18:45:02.927] [info] Accepted new action goal ×2 + 2.41sWARNcontroller_managerOverrun might occur, Total time : 2056.798 us (Expected < 1666.667 us) --> Read time : 825.165 us, Update time : 97.034 us, Write time : 1134.599 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 2056.798 us (Expected < 1666.667 us) --> Read time : 825.165 us, Update time : 97.034 us, Write time : 1134.599 us[0m ×2 + 2.58sINFOros2_control_node[2026-06-11 18:45:03.328] [info] Received new action goal ×2 + 2.58sINFOros2_control_node[2026-06-11 18:45:03.328] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770610 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770610 ms (missed cycles : 3).[0m ×2 + 3.33sINFOros2_control_node[2026-06-11 18:45:04.080] [info] Got request to cancel active goal. ×2 + 3.33sINFOros2_control_node[2026-06-11 18:45:04.081] [info] Canceling active goal... ×2 + 3.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1781203504.09980226 seconds ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sWARNcontroller_managerOverrun might occur, Total time : 1835.589 us (Expected < 1666.667 us) --> Read time : 348.795 us, Update time : 819.665 us, Write time : 667.129 us + 3.42sWARNros2_control_nodeOverrun might occur, Total time : 1835.589 us (Expected < 1666.667 us) --> Read time : 348.795 us, Update time : 819.665 us, Write time : 667.129 us[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1781203504.76988959 seconds. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.19sINFOros2_control_node[2026-06-11 18:45:04.945] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-06-11 18:45:04.945] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961500 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961500 ms (missed cycles : 2).[0m ×2 + 4.63sWARNcontroller_managerOverrun might occur, Total time : 2025.967 us (Expected < 1666.667 us) --> Read time : 372.086 us, Update time : 630.227 us, Write time : 1023.654 us + 4.64sWARNros2_control_nodeOverrun might occur, Total time : 2025.967 us (Expected < 1666.667 us) --> Read time : 372.086 us, Update time : 630.227 us, Write time : 1023.654 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791971 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791971 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 8364.549 us (Expected < 1666.667 us) --> Read time : 302.173 us, Update time : 101.914 us, Write time : 7960.462 us + 6.06sWARNros2_control_nodeOverrun might occur, Total time : 8364.549 us (Expected < 1666.667 us) --> Read time : 302.173 us, Update time : 101.914 us, Write time : 7960.462 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108193 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108193 ms (missed cycles : 4).[0m ×2 + 7.15sWARNcontroller_managerOverrun might occur, Total time : 2972.408 us (Expected < 1666.667 us) --> Read time : 254.361 us, Update time : 1999.266 us, Write time : 718.781 us + 7.15sWARNros2_control_nodeOverrun might occur, Total time : 2972.408 us (Expected < 1666.667 us) --> Read time : 254.361 us, Update time : 1999.266 us, Write time : 718.781 us[0m ×2 + 7.16sINFOros2_control_node[2026-06-11 18:45:07.914] [info] Received new action goal ×2 + 7.16sINFOros2_control_node[2026-06-11 18:45:07.914] [info] Accepted new action goal ×2 + 7.28sINFOros2_control_nodeMuJoCo sim: 1.28% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.977138 ms (missed cycles : 4). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.977138 ms (missed cycles : 4).[0m ×2 + 8.30sWARNcontroller_managerOverrun might occur, Total time : 2088.700 us (Expected < 1666.667 us) --> Read time : 229.220 us, Update time : 1376.199 us, Write time : 483.281 us + 8.30sWARNros2_control_nodeOverrun might occur, Total time : 2088.700 us (Expected < 1666.667 us) --> Read time : 229.220 us, Update time : 1376.199 us, Write time : 483.281 us[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270504 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270504 ms (missed cycles : 2).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.316774 ms (missed cycles : 6). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.316774 ms (missed cycles : 6).[0m ×2 + 9.50sWARNcontroller_managerOverrun might occur, Total time : 1830.289 us (Expected < 1666.667 us) --> Read time : 210.919 us, Update time : 639.218 us, Write time : 980.152 us + 9.50sWARNros2_control_nodeOverrun might occur, Total time : 1830.289 us (Expected < 1666.667 us) --> Read time : 210.919 us, Update time : 639.218 us, Write time : 980.152 us[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.586784 ms (missed cycles : 8). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.586784 ms (missed cycles : 8).[0m ×2 + 10.78sWARNcontroller_managerOverrun might occur, Total time : 2884.784 us (Expected < 1666.667 us) --> Read time : 285.552 us, Update time : 208.989 us, Write time : 2390.243 us + 10.78sWARNros2_control_nodeOverrun might occur, Total time : 2884.784 us (Expected < 1666.667 us) --> Read time : 285.552 us, Update time : 208.989 us, Write time : 2390.243 us[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.932708 ms (missed cycles : 5). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.932708 ms (missed cycles : 5).[0m ×2 + 11.95sWARNcontroller_managerOverrun might occur, Total time : 10725.810 us (Expected < 1666.667 us) --> Read time : 370.106 us, Update time : 9773.559 us, Write time : 582.145 us + 11.95sWARNros2_control_nodeOverrun might occur, Total time : 10725.810 us (Expected < 1666.667 us) --> Read time : 370.106 us, Update time : 9773.559 us, Write time : 582.145 us[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715087 ms (missed cycles : 6). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715087 ms (missed cycles : 6).[0m ×2 + 13.01sWARNcontroller_managerOverrun might occur, Total time : 5599.090 us (Expected < 1666.667 us) --> Read time : 307.543 us, Update time : 4742.423 us, Write time : 549.124 us + 13.01sWARNros2_control_nodeOverrun might occur, Total time : 5599.090 us (Expected < 1666.667 us) --> Read time : 307.543 us, Update time : 4742.423 us, Write time : 549.124 us[0m ×2 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003038 ms (missed cycles : 7). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003038 ms (missed cycles : 7).[0m ×2 + 14.04sWARNcontroller_managerOverrun might occur, Total time : 2337.690 us (Expected < 1666.667 us) --> Read time : 270.061 us, Update time : 1625.060 us, Write time : 442.569 us + 14.05sWARNros2_control_nodeOverrun might occur, Total time : 2337.690 us (Expected < 1666.667 us) --> Read time : 270.061 us, Update time : 1625.060 us, Write time : 442.569 us[0m ×2 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307477 ms (missed cycles : 4). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307477 ms (missed cycles : 4).[0m ×2 + 15.41sWARNcontroller_managerOverrun might occur, Total time : 2084.179 us (Expected < 1666.667 us) --> Read time : 211.049 us, Update time : 1415.090 us, Write time : 458.040 us + 15.41sWARNros2_control_nodeOverrun might occur, Total time : 2084.179 us (Expected < 1666.667 us) --> Read time : 211.049 us, Update time : 1415.090 us, Write time : 458.040 us[0m ×2 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415523 ms (missed cycles : 4). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415523 ms (missed cycles : 4).[0m ×2 + 15.71sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781203516.46806026 seconds ×3 + 16.33sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781203517.08362436 seconds. ×3 + 16.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 16.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 16.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.40sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.41sWARNcontroller_managerOverrun might occur, Total time : 3496.379 us (Expected < 1666.667 us) --> Read time : 221.989 us, Update time : 2722.647 us (Switch time : 2673.654 us (Switch chained mode time : 0.450 us, perform mode change time : 5.710 us, Activation time : 2658.534 us, Deactivation time : 0.430 us)), Write time : 551.743 us + 16.41sWARNros2_control_nodeOverrun might occur, Total time : 3496.379 us (Expected < 1666.667 us) --> Read time : 221.989 us, Update time : 2722.647 us (Switch time : 2673.654 us (Switch chained mode time : 0.450 us, perform mode change time : 5.710 us, Activation time : 2658.534 us, Deactivation time : 0.430 us)), Write time : 551.743 us[0m ×2 + 16.41sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781203517.16379905 seconds ×3 + 16.45sWARNcontroller_managerOverrun might occur, Total time : 3797.693 us (Expected < 1666.667 us) --> Read time : 314.384 us, Update time : 58.182 us, Write time : 3425.127 us + 16.46sWARNros2_control_nodeOverrun might occur, Total time : 3797.693 us (Expected < 1666.667 us) --> Read time : 314.384 us, Update time : 58.182 us, Write time : 3425.127 us[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358097 ms (missed cycles : 6). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358097 ms (missed cycles : 6).[0m ×2 + 17.12sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781203517.87294507 seconds. ×3 + 17.23sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 17.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 17.24sINFOros2_control_node[2026-06-11 18:45:17.997] [info] Received new action goal ×2 + 17.24sINFOros2_control_node[2026-06-11 18:45:17.997] [info] Accepted new action goal ×2 + 17.58sWARNcontroller_managerOverrun might occur, Total time : 8945.694 us (Expected < 1666.667 us) --> Read time : 363.126 us, Update time : 7996.113 us, Write time : 586.455 us + 17.59sWARNros2_control_nodeOverrun might occur, Total time : 8945.694 us (Expected < 1666.667 us) --> Read time : 363.126 us, Update time : 7996.113 us, Write time : 586.455 us[0m ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393797 ms (missed cycles : 2). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393797 ms (missed cycles : 2).[0m ×2 + 18.59sWARNcontroller_managerOverrun might occur, Total time : 2104.100 us (Expected < 1666.667 us) --> Read time : 265.141 us, Update time : 82.344 us, Write time : 1756.615 us + 18.59sWARNros2_control_nodeOverrun might occur, Total time : 2104.100 us (Expected < 1666.667 us) --> Read time : 265.141 us, Update time : 82.344 us, Write time : 1756.615 us[0m ×2 + 18.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.960744 ms (missed cycles : 7). + 18.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.960744 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.3s | 99 warnings · 184 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2055.079 us (Expected < 1666.667 us) --> Read time : 363.396 us, Update time : 664.209 us, Write time : 1027.474 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2055.079 us (Expected < 1666.667 us) --> Read time : 363.396 us, Update time : 664.209 us, Write time : 1027.474 us[0m ×2 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399397 ms (missed cycles : 6). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399397 ms (missed cycles : 6).[0m ×2 + 0.71sINFOros2_control_nodeMuJoCo sim: 1.47% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun might occur, Total time : 2297.899 us (Expected < 1666.667 us) --> Read time : 221.040 us, Update time : 1455.142 us, Write time : 621.717 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2297.899 us (Expected < 1666.667 us) --> Read time : 221.040 us, Update time : 1455.142 us, Write time : 621.717 us[0m ×2 + 1.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 1.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.30sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.30sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.30sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.30sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.267917 ms (missed cycles : 6). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.267917 ms (missed cycles : 6).[0m ×2 + 2.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.35sINFOros2_control_node[2026-06-11 18:46:09.677] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-06-11 18:46:09.677] [info] Accepted new action goal ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 2863.905 us (Expected < 1666.667 us) --> Read time : 242.740 us, Update time : 109.594 us, Write time : 2511.571 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 2863.905 us (Expected < 1666.667 us) --> Read time : 242.740 us, Update time : 109.594 us, Write time : 2511.571 us[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448306 ms (missed cycles : 6). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448306 ms (missed cycles : 6).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1781203570.83445883 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.53sWARNcontroller_managerOverrun might occur, Total time : 3572.334 us (Expected < 1666.667 us) --> Read time : 2884.126 us, Update time : 55.002 us, Write time : 633.206 us + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.54sWARNros2_control_nodeOverrun might occur, Total time : 3572.334 us (Expected < 1666.667 us) --> Read time : 2884.126 us, Update time : 55.002 us, Write time : 633.206 us[0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110608 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110608 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Push Button` starting at time: 1781203571.59304714 seconds. ×3 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 12145.607 us (Expected < 1666.667 us) --> Read time : 283.211 us, Update time : 11395.157 us, Write time : 467.239 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 12145.607 us (Expected < 1666.667 us) --> Read time : 283.211 us, Update time : 11395.157 us, Write time : 467.239 us[0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.608369 ms (missed cycles : 5). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.608369 ms (missed cycles : 5).[0m ×2 + 5.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.52sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.53sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.54sINFOros2_control_node[2026-06-11 18:46:12.868] [info] Received new action goal ×2 + 5.54sINFOros2_control_node[2026-06-11 18:46:12.868] [info] Accepted new action goal ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668324 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668324 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 1813.773 us (Expected < 1666.667 us) --> Read time : 748.910 us, Update time : 74.593 us, Write time : 990.270 us + 5.86sWARNros2_control_nodeOverrun might occur, Total time : 1813.773 us (Expected < 1666.667 us) --> Read time : 748.910 us, Update time : 74.593 us, Write time : 990.270 us[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813330 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813330 ms (missed cycles : 2).[0m ×2 + 6.90sWARNcontroller_managerOverrun might occur, Total time : 10074.595 us (Expected < 1666.667 us) --> Read time : 9374.967 us, Update time : 123.765 us, Write time : 575.863 us + 6.90sWARNros2_control_nodeOverrun might occur, Total time : 10074.595 us (Expected < 1666.667 us) --> Read time : 9374.967 us, Update time : 123.765 us, Write time : 575.863 us[0m ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.014567 ms (missed cycles : 7). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.014567 ms (missed cycles : 7).[0m ×2 + 8.01sWARNcontroller_managerOverrun might occur, Total time : 1781.532 us (Expected < 1666.667 us) --> Read time : 264.121 us, Update time : 1042.192 us, Write time : 475.219 us + 8.01sWARNros2_control_nodeOverrun might occur, Total time : 1781.532 us (Expected < 1666.667 us) --> Read time : 264.121 us, Update time : 1042.192 us, Write time : 475.219 us[0m ×2 + 8.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.83sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.83sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.83sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.83sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910167 ms (missed cycles : 2). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910167 ms (missed cycles : 2).[0m ×2 + 9.29sWARNcontroller_managerOverrun might occur, Total time : 2640.706 us (Expected < 1666.667 us) --> Read time : 212.568 us, Update time : 101.114 us, Write time : 2327.024 us + 9.29sWARNros2_control_nodeOverrun might occur, Total time : 2640.706 us (Expected < 1666.667 us) --> Read time : 212.568 us, Update time : 101.114 us, Write time : 2327.024 us[0m ×2 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755192 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755192 ms (missed cycles : 2).[0m ×2 + 10.50sWARNcontroller_managerOverrun might occur, Total time : 4845.935 us (Expected < 1666.667 us) --> Read time : 302.153 us, Update time : 4076.064 us, Write time : 467.718 us + 10.50sWARNros2_control_nodeOverrun might occur, Total time : 4845.935 us (Expected < 1666.667 us) --> Read time : 302.153 us, Update time : 4076.064 us, Write time : 467.718 us[0m ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788654 ms (missed cycles : 2). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788654 ms (missed cycles : 2).[0m ×2 + 11.20sINFOobjective_server_nodeFound path in 0 iterations (7.2e-07 s). ×2 + 11.21sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.22sINFOros2_control_node[2026-06-11 18:46:18.553] [info] Received new action goal ×2 + 11.22sINFOros2_control_node[2026-06-11 18:46:18.553] [info] Accepted new action goal ×2 + 11.61sWARNcontroller_managerOverrun might occur, Total time : 1804.522 us (Expected < 1666.667 us) --> Read time : 255.850 us, Update time : 798.572 us, Write time : 750.100 us + 11.62sWARNros2_control_nodeOverrun might occur, Total time : 1804.522 us (Expected < 1666.667 us) --> Read time : 255.850 us, Update time : 798.572 us, Write time : 750.100 us[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674491 ms (missed cycles : 3). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674491 ms (missed cycles : 3).[0m ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671135 ms (missed cycles : 2). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671135 ms (missed cycles : 2).[0m ×2 + 13.48sWARNcontroller_managerOverrun might occur, Total time : 2290.863 us (Expected < 1666.667 us) --> Read time : 652.877 us, Update time : 485.149 us, Write time : 1152.837 us + 13.48sWARNros2_control_nodeOverrun might occur, Total time : 2290.863 us (Expected < 1666.667 us) --> Read time : 652.877 us, Update time : 485.149 us, Write time : 1152.837 us[0m ×2 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790295 ms (missed cycles : 3). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790295 ms (missed cycles : 3).[0m ×2 + 14.59sWARNcontroller_managerOverrun might occur, Total time : 2072.493 us (Expected < 1666.667 us) --> Read time : 426.817 us, Update time : 623.825 us, Write time : 1021.851 us + 14.60sWARNros2_control_nodeOverrun might occur, Total time : 2072.493 us (Expected < 1666.667 us) --> Read time : 426.817 us, Update time : 623.825 us, Write time : 1021.851 us[0m ×2 + 14.83sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1781203582.16323423 seconds ×3 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609350 ms (missed cycles : 2). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609350 ms (missed cycles : 2).[0m ×2 + 15.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781203582.75541687 seconds. ×3 + 15.59sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 15.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.60sINFOros2_control_node[2026-06-11 18:46:22.930] [info] Received new action goal ×2 + 15.60sINFOros2_control_node[2026-06-11 18:46:22.930] [info] Accepted new action goal ×2 + 15.89sWARNcontroller_managerOverrun might occur, Total time : 3066.443 us (Expected < 1666.667 us) --> Read time : 199.388 us, Update time : 2095.264 us, Write time : 771.791 us + 15.89sWARNros2_control_nodeOverrun might occur, Total time : 3066.443 us (Expected < 1666.667 us) --> Read time : 199.388 us, Update time : 2095.264 us, Write time : 771.791 us[0m ×2 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.282783 ms (missed cycles : 6). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.282783 ms (missed cycles : 6).[0m ×2 + 17.00sWARNcontroller_managerOverrun might occur, Total time : 2109.595 us (Expected < 1666.667 us) --> Read time : 219.949 us, Update time : 812.152 us, Write time : 1077.494 us + 17.00sWARNros2_control_nodeOverrun might occur, Total time : 2109.595 us (Expected < 1666.667 us) --> Read time : 219.949 us, Update time : 812.152 us, Write time : 1077.494 us[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851315 ms (missed cycles : 2). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851315 ms (missed cycles : 2).[0m ×2 + 17.96sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 17.98sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 18.00sWARNcontroller_managerOverrun might occur, Total time : 2282.241 us (Expected < 1666.667 us) --> Read time : 361.704 us, Update time : 784.542 us, Write time : 1135.995 us + 18.00sWARNros2_control_nodeOverrun might occur, Total time : 2282.241 us (Expected < 1666.667 us) --> Read time : 361.704 us, Update time : 784.542 us, Write time : 1135.995 us[0m ×2 + 18.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 18.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 18.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 18.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 105 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8).[0m ×2 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us + 0.06sWARNros2_control_nodeOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us[0m ×2 + 1.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781203753.18126750 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781203753.83794951 seconds. ×3 + 2.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.16sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.17sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781203753.92811179 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781203754.50499654 seconds. ×3 + 2.80sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.80sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781203754.52726221 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4).[0m ×2 + 3.29sWARNcontroller_managerOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781203755.13126111 seconds. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.52sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2).[0m ×2 + 4.31sWARNcontroller_managerOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us + 4.31sWARNros2_control_nodeOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368527 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368527 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun might occur, Total time : 2155.053 us (Expected < 1666.667 us) --> Read time : 405.308 us, Update time : 1103.247 us, Write time : 646.498 us + 5.33sWARNros2_control_nodeOverrun might occur, Total time : 2155.053 us (Expected < 1666.667 us) --> Read time : 405.308 us, Update time : 1103.247 us, Write time : 646.498 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326207 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326207 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 2921.025 us (Expected < 1666.667 us) --> Read time : 801.044 us, Update time : 67.223 us, Write time : 2052.758 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 2921.025 us (Expected < 1666.667 us) --> Read time : 801.044 us, Update time : 67.223 us, Write time : 2052.758 us[0m ×2 + 6.83sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.83sINFOros2_control_node[2026-06-11 18:49:18.556] [info] Received new action goal ×2 + 6.83sINFOros2_control_node[2026-06-11 18:49:18.556] [info] Accepted new action goal ×2 + 6.83sINFOros2_control_node[2026-06-11 18:49:18.556] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984355 ms (missed cycles : 4). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984355 ms (missed cycles : 4).[0m ×2 + 8.07sWARNcontroller_managerOverrun might occur, Total time : 1854.368 us (Expected < 1666.667 us) --> Read time : 293.982 us, Update time : 153.136 us, Write time : 1407.250 us + 8.07sWARNros2_control_nodeOverrun might occur, Total time : 1854.368 us (Expected < 1666.667 us) --> Read time : 293.982 us, Update time : 153.136 us, Write time : 1407.250 us[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.133156 ms (missed cycles : 6). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.133156 ms (missed cycles : 6).[0m ×2 + 9.17sWARNcontroller_managerOverrun might occur, Total time : 4230.551 us (Expected < 1666.667 us) --> Read time : 225.610 us, Update time : 3430.786 us, Write time : 574.155 us + 9.17sWARNros2_control_nodeOverrun might occur, Total time : 4230.551 us (Expected < 1666.667 us) --> Read time : 225.610 us, Update time : 3430.786 us, Write time : 574.155 us[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281413 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281413 ms (missed cycles : 3).[0m ×2 + 10.30sWARNcontroller_managerOverrun might occur, Total time : 1951.914 us (Expected < 1666.667 us) --> Read time : 409.168 us, Update time : 897.528 us, Write time : 645.218 us + 10.30sWARNros2_control_nodeOverrun might occur, Total time : 1951.914 us (Expected < 1666.667 us) --> Read time : 409.168 us, Update time : 897.528 us, Write time : 645.218 us[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810900 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810900 ms (missed cycles : 2).[0m ×2 + 11.52sWARNcontroller_managerOverrun might occur, Total time : 1746.534 us (Expected < 1666.667 us) --> Read time : 392.446 us, Update time : 132.856 us, Write time : 1221.232 us + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506738 ms (missed cycles : 3). + 11.53sWARNros2_control_nodeOverrun might occur, Total time : 1746.534 us (Expected < 1666.667 us) --> Read time : 392.446 us, Update time : 132.856 us, Write time : 1221.232 us[0m ×2 + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506738 ms (missed cycles : 3).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.499722 ms (missed cycles : 6). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.499722 ms (missed cycles : 6).[0m ×2 + 12.78sWARNcontroller_managerOverrun might occur, Total time : 2871.354 us (Expected < 1666.667 us) --> Read time : 776.674 us, Update time : 680.449 us, Write time : 1414.231 us + 12.78sWARNros2_control_nodeOverrun might occur, Total time : 2871.354 us (Expected < 1666.667 us) --> Read time : 776.674 us, Update time : 680.449 us, Write time : 1414.231 us[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.772661 ms (missed cycles : 7). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.772661 ms (missed cycles : 7).[0m ×2 + 13.91sWARNcontroller_managerOverrun might occur, Total time : 5439.624 us (Expected < 1666.667 us) --> Read time : 211.149 us, Update time : 860.087 us, Write time : 4368.388 us + 13.91sWARNros2_control_nodeOverrun might occur, Total time : 5439.624 us (Expected < 1666.667 us) --> Read time : 211.149 us, Update time : 860.087 us, Write time : 4368.388 us[0m ×2 + 13.96sINFOros2_control_node[2026-06-11 18:49:25.681] [info] Got request to cancel active goal. ×2 + 13.96sINFOros2_control_node[2026-06-11 18:49:25.681] [info] Canceling active goal... ×2 + 13.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781203765.68696427 seconds ×3 + 14.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781203766.27736068 seconds. ×3 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404711 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404711 ms (missed cycles : 3).[0m ×2 + 14.98sWARNcontroller_managerOverrun might occur, Total time : 1777.076 us (Expected < 1666.667 us) --> Read time : 224.699 us, Update time : 593.916 us, Write time : 958.461 us + 14.98sWARNros2_control_nodeOverrun might occur, Total time : 1777.076 us (Expected < 1666.667 us) --> Read time : 224.699 us, Update time : 593.916 us, Write time : 958.461 us[0m ×2 + 15.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781203767.08749461 seconds ×3 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866129 ms (missed cycles : 3). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866129 ms (missed cycles : 3).[0m ×2 + 15.96sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781203767.68061733 seconds. ×3 + 15.96sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.96sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.96sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.96sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781203767.68240118 seconds ×3 + 16.15sWARNcontroller_managerOverrun might occur, Total time : 7481.311 us (Expected < 1666.667 us) --> Read time : 274.431 us, Update time : 6461.988 us, Write time : 744.892 us + 16.15sWARNros2_control_nodeOverrun might occur, Total time : 7481.311 us (Expected < 1666.667 us) --> Read time : 274.431 us, Update time : 6461.988 us, Write time : 744.892 us[0m ×2 + 16.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781203768.26485419 seconds. ×3 + 16.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781203768.26550388 seconds ×3 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724335 ms (missed cycles : 2). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724335 ms (missed cycles : 2).[0m ×2 + 17.17sWARNcontroller_managerOverrun might occur, Total time : 3207.228 us (Expected < 1666.667 us) --> Read time : 281.052 us, Update time : 983.622 us, Write time : 1942.554 us + 17.17sWARNros2_control_nodeOverrun might occur, Total time : 3207.228 us (Expected < 1666.667 us) --> Read time : 281.052 us, Update time : 983.622 us, Write time : 1942.554 us[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.2s | 3 errors · 108 warnings · 178 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2331.289 us (Expected < 1666.667 us) --> Read time : 399.977 us, Update time : 852.086 us, Write time : 1079.226 us + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528787 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2331.289 us (Expected < 1666.667 us) --> Read time : 399.977 us, Update time : 852.086 us, Write time : 1079.226 us[0m ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528787 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.304737 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.304737 ms (missed cycles : 6).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 2157.742 us (Expected < 1666.667 us) --> Read time : 1539.526 us, Update time : 104.164 us, Write time : 514.052 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 2157.742 us (Expected < 1666.667 us) --> Read time : 1539.526 us, Update time : 104.164 us, Write time : 514.052 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373620 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373620 ms (missed cycles : 3).[0m ×2 + 2.49sWARNcontroller_managerOverrun might occur, Total time : 2181.293 us (Expected < 1666.667 us) --> Read time : 938.070 us, Update time : 98.504 us, Write time : 1144.719 us + 2.50sWARNros2_control_nodeOverrun might occur, Total time : 2181.293 us (Expected < 1666.667 us) --> Read time : 938.070 us, Update time : 98.504 us, Write time : 1144.719 us[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853341 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853341 ms (missed cycles : 2).[0m ×2 + 3.52sWARNcontroller_managerOverrun might occur, Total time : 1734.915 us (Expected < 1666.667 us) --> Read time : 336.815 us, Update time : 934.570 us, Write time : 463.530 us + 3.52sWARNros2_control_nodeOverrun might occur, Total time : 1734.915 us (Expected < 1666.667 us) --> Read time : 336.815 us, Update time : 934.570 us, Write time : 463.530 us[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1781203742.03504848 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720005 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720005 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1781203742.64097166 seconds. ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-06-11 18:49:02.772] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-06-11 18:49:02.772] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun might occur, Total time : 1912.672 us (Expected < 1666.667 us) --> Read time : 223.530 us, Update time : 73.653 us, Write time : 1615.489 us + 4.62sWARNros2_control_nodeOverrun might occur, Total time : 1912.672 us (Expected < 1666.667 us) --> Read time : 223.530 us, Update time : 73.653 us, Write time : 1615.489 us[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732940 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732940 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun might occur, Total time : 3575.153 us (Expected < 1666.667 us) --> Read time : 188.088 us, Update time : 2918.005 us, Write time : 469.060 us + 5.63sWARNros2_control_nodeOverrun might occur, Total time : 3575.153 us (Expected < 1666.667 us) --> Read time : 188.088 us, Update time : 2918.005 us, Write time : 469.060 us[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.714313 ms (missed cycles : 5). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.714313 ms (missed cycles : 5).[0m ×2 + 6.33sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.86sWARNcontroller_managerOverrun might occur, Total time : 2558.529 us (Expected < 1666.667 us) --> Read time : 1944.923 us, Update time : 65.492 us, Write time : 548.114 us + 6.87sWARNros2_control_nodeOverrun might occur, Total time : 2558.529 us (Expected < 1666.667 us) --> Read time : 1944.923 us, Update time : 65.492 us, Write time : 548.114 us[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001292 ms (missed cycles : 2). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001292 ms (missed cycles : 2).[0m ×2 + 7.93sWARNcontroller_managerOverrun might occur, Total time : 2628.182 us (Expected < 1666.667 us) --> Read time : 254.501 us, Update time : 80.464 us, Write time : 2293.217 us + 7.93sWARNros2_control_nodeOverrun might occur, Total time : 2628.182 us (Expected < 1666.667 us) --> Read time : 254.501 us, Update time : 80.464 us, Write time : 2293.217 us[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622416 ms (missed cycles : 3). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622416 ms (missed cycles : 3).[0m ×2 + 8.95sWARNcontroller_managerOverrun might occur, Total time : 1863.910 us (Expected < 1666.667 us) --> Read time : 919.549 us, Update time : 96.104 us, Write time : 848.257 us + 8.96sWARNros2_control_nodeOverrun might occur, Total time : 1863.910 us (Expected < 1666.667 us) --> Read time : 919.549 us, Update time : 96.104 us, Write time : 848.257 us[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014322 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014322 ms (missed cycles : 2).[0m ×2 + 9.68sINFOros2_control_nodeMuJoCo sim: 1.41% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.96sWARNcontroller_managerOverrun might occur, Total time : 1718.813 us (Expected < 1666.667 us) --> Read time : 475.320 us, Update time : 119.255 us, Write time : 1124.238 us + 9.96sWARNros2_control_nodeOverrun might occur, Total time : 1718.813 us (Expected < 1666.667 us) --> Read time : 475.320 us, Update time : 119.255 us, Write time : 1124.238 us[0m ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345111 ms (missed cycles : 2). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345111 ms (missed cycles : 2).[0m ×2 + 11.01sWARNcontroller_managerOverrun might occur, Total time : 3939.129 us (Expected < 1666.667 us) --> Read time : 218.640 us, Update time : 3210.177 us, Write time : 510.312 us + 11.02sWARNros2_control_nodeOverrun might occur, Total time : 3939.129 us (Expected < 1666.667 us) --> Read time : 218.640 us, Update time : 3210.177 us, Write time : 510.312 us[0m ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.702611 ms (missed cycles : 8). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.702611 ms (missed cycles : 8).[0m ×2 + 12.18sWARNcontroller_managerOverrun might occur, Total time : 3975.719 us (Expected < 1666.667 us) --> Read time : 650.408 us, Update time : 2782.428 us, Write time : 542.883 us + 12.19sWARNros2_control_nodeOverrun might occur, Total time : 3975.719 us (Expected < 1666.667 us) --> Read time : 650.408 us, Update time : 2782.428 us, Write time : 542.883 us[0m ×2 + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.398040 ms (missed cycles : 6). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.398040 ms (missed cycles : 6).[0m ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8).[0m ×2 + 13.41sWARNcontroller_managerOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us + 13.42sWARNros2_control_nodeOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us[0m ×2 + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4).[0m ×2 + 14.55sWARNcontroller_managerOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us + 14.56sWARNros2_control_nodeOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us[0m ×2 + 14.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781203753.18126750 seconds ×3 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8).[0m ×2 + 15.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781203753.83794951 seconds. ×3 + 15.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.56sWARNcontroller_managerOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us + 15.56sWARNros2_control_nodeOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us[0m ×2 + 15.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781203753.92811179 seconds ×3 + 15.60sWARNcontroller_managerOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us + 15.60sWARNros2_control_nodeOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us[0m ×2 + 16.14sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781203754.50499654 seconds. ×3 + 16.17sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 16.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781203754.52726221 seconds ×3 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4).[0m ×2 + 16.66sWARNcontroller_managerOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us + 16.66sWARNros2_control_nodeOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us[0m ×2 + 16.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781203755.13126111 seconds. ×3 + 16.87sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). ×2 + 16.87sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.89sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Received new action goal ×2 + 16.89sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Accepted new action goal ×2 + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2).[0m ×2 + 17.68sWARNcontroller_managerOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us + 17.68sWARNros2_control_nodeOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 3 errors · 102 warnings · 126 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380669 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380669 ms (missed cycles : 2).[0m ×2 + 0.75sWARNcontroller_managerOverrun might occur, Total time : 5480.278 us (Expected < 1666.667 us) --> Read time : 4810.421 us, Update time : 94.924 us, Write time : 574.933 us + 0.75sWARNros2_control_nodeOverrun might occur, Total time : 5480.278 us (Expected < 1666.667 us) --> Read time : 4810.421 us, Update time : 94.924 us, Write time : 574.933 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346846 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346846 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992484 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992484 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun might occur, Total time : 1727.649 us (Expected < 1666.667 us) --> Read time : 261.871 us, Update time : 944.837 us, Write time : 520.941 us + 2.08sWARNros2_control_nodeOverrun might occur, Total time : 1727.649 us (Expected < 1666.667 us) --> Read time : 261.871 us, Update time : 944.837 us, Write time : 520.941 us[0m ×2 + 2.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800519 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800519 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1781203709.47501779 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 6758.569 us (Expected < 1666.667 us) --> Read time : 623.505 us, Update time : 53.312 us, Write time : 6081.752 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 6758.569 us (Expected < 1666.667 us) --> Read time : 623.505 us, Update time : 53.312 us, Write time : 6081.752 us[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 4374.144 us (Expected < 1666.667 us) --> Read time : 401.406 us, Update time : 731.449 us (Switch time : 2599.233 us (Switch chained mode time : 0.430 us, perform mode change time : 6.780 us, Activation time : 2591.093 us, Deactivation time : 0.370 us)), Write time : 3241.289 us + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.33sWARNros2_control_nodeOverrun might occur, Total time : 4374.144 us (Expected < 1666.667 us) --> Read time : 401.406 us, Update time : 731.449 us (Switch time : 2599.233 us (Switch chained mode time : 0.430 us, perform mode change time : 6.780 us, Activation time : 2591.093 us, Deactivation time : 0.370 us)), Write time : 3241.289 us[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1781203710.26649356 seconds. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.032110 ms (missed cycles : 7). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.032110 ms (missed cycles : 7).[0m ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 4.28sINFOros2_control_node[2026-06-11 18:48:30.522] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-06-11 18:48:30.522] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 1988.959 us (Expected < 1666.667 us) --> Read time : 543.851 us, Update time : 400.426 us, Write time : 1044.682 us + 4.48sWARNros2_control_nodeOverrun might occur, Total time : 1988.959 us (Expected < 1666.667 us) --> Read time : 543.851 us, Update time : 400.426 us, Write time : 1044.682 us[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.415723 ms (missed cycles : 6). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.415723 ms (missed cycles : 6).[0m ×2 + 5.61sWARNcontroller_managerOverrun might occur, Total time : 5010.020 us (Expected < 1666.667 us) --> Read time : 237.710 us, Update time : 80.503 us, Write time : 4691.807 us + 5.61sWARNros2_control_nodeOverrun might occur, Total time : 5010.020 us (Expected < 1666.667 us) --> Read time : 237.710 us, Update time : 80.503 us, Write time : 4691.807 us[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747006 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747006 ms (missed cycles : 5).[0m ×2 + 6.77sWARNcontroller_managerOverrun might occur, Total time : 6253.678 us (Expected < 1666.667 us) --> Read time : 5480.797 us, Update time : 100.884 us, Write time : 671.997 us + 6.77sWARNros2_control_nodeOverrun might occur, Total time : 6253.678 us (Expected < 1666.667 us) --> Read time : 5480.797 us, Update time : 100.884 us, Write time : 671.997 us[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772008 ms (missed cycles : 5). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772008 ms (missed cycles : 5).[0m ×2 + 7.85sWARNcontroller_managerOverrun might occur, Total time : 8459.867 us (Expected < 1666.667 us) --> Read time : 209.959 us, Update time : 43.122 us, Write time : 8206.786 us + 7.85sWARNros2_control_nodeOverrun might occur, Total time : 8459.867 us (Expected < 1666.667 us) --> Read time : 209.959 us, Update time : 43.122 us, Write time : 8206.786 us[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.809924 ms (missed cycles : 8). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.809924 ms (missed cycles : 8).[0m ×2 + 8.85sWARNcontroller_managerOverrun might occur, Total time : 2249.229 us (Expected < 1666.667 us) --> Read time : 352.664 us, Update time : 1010.420 us, Write time : 886.145 us + 8.85sWARNros2_control_nodeOverrun might occur, Total time : 2249.229 us (Expected < 1666.667 us) --> Read time : 352.664 us, Update time : 1010.420 us, Write time : 886.145 us[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724008 ms (missed cycles : 5). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724008 ms (missed cycles : 5).[0m ×2 + 9.86sWARNcontroller_managerOverrun might occur, Total time : 2971.388 us (Expected < 1666.667 us) --> Read time : 254.130 us, Update time : 2203.598 us, Write time : 513.660 us + 9.86sWARNros2_control_nodeOverrun might occur, Total time : 2971.388 us (Expected < 1666.667 us) --> Read time : 254.130 us, Update time : 2203.598 us, Write time : 513.660 us[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159659 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159659 ms (missed cycles : 2).[0m ×2 + 10.95sWARNcontroller_managerOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us + 10.96sWARNros2_control_nodeOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5).[0m ×2 + 11.85sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 11.85sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 11.85sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 11.98sWARNcontroller_managerOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us + 11.98sWARNros2_control_nodeOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us[0m ×2 + 12.12sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 12.12sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 12.13sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 12.13sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 12.17sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 12.19sINFOobjective_server_nodeFound path in 5 iterations (0.0048806 s). ×2 + 12.23sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 12.24sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.26sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Received new action goal ×2 + 12.26sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Accepted new action goal ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3).[0m ×2 + 13.04sWARNcontroller_managerOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us + 13.04sWARNros2_control_nodeOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us[0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2).[0m ×2 + 14.11sWARNcontroller_managerOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us + 14.11sWARNros2_control_nodeOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us[0m ×2 + 14.33sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Got request to cancel active goal. ×2 + 14.33sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Canceling active goal... ×2 + 14.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781203720.58469510 seconds ×3 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6).[0m ×2 + 15.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781203721.25386167 seconds. ×3 + 15.15sWARNcontroller_managerOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us + 15.15sWARNros2_control_nodeOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us[0m ×2 + 15.17sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 15.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 15.18sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Received new action goal ×2 + 15.18sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Accepted new action goal ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2).[0m ×2 + 16.27sWARNcontroller_managerOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us + 16.27sWARNros2_control_nodeOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us[0m ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2).[0m ×2 + 17.46sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.48sWARNcontroller_managerOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us + 17.49sWARNros2_control_nodeOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 99 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5).[0m ×2 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.90sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us[0m ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 1.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 1.17sINFOobjective_server_nodePath shortcutter: [X________________X] ×4 + 1.22sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 1.24sINFOobjective_server_nodeFound path in 5 iterations (0.0048806 s). ×2 + 1.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 1.29sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Received new action goal ×2 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Accepted new action goal ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us + 2.08sWARNros2_control_nodeOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us + 3.15sWARNros2_control_nodeOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us[0m ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Got request to cancel active goal. ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Canceling active goal... ×2 + 3.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781203720.58469510 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781203721.25386167 seconds. ×3 + 4.19sWARNcontroller_managerOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us + 4.19sWARNros2_control_nodeOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323687 ms (missed cycles : 5). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323687 ms (missed cycles : 5).[0m ×2 + 7.58sWARNcontroller_managerOverrun might occur, Total time : 1828.443 us (Expected < 1666.667 us) --> Read time : 256.930 us, Update time : 1116.015 us, Write time : 455.498 us + 7.58sWARNros2_control_nodeOverrun might occur, Total time : 1828.443 us (Expected < 1666.667 us) --> Read time : 256.930 us, Update time : 1116.015 us, Write time : 455.498 us[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070081 ms (missed cycles : 4). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070081 ms (missed cycles : 4).[0m ×2 + 8.60sWARNcontroller_managerOverrun might occur, Total time : 9674.525 us (Expected < 1666.667 us) --> Read time : 204.639 us, Update time : 28.821 us, Write time : 9441.065 us + 8.60sWARNros2_control_nodeOverrun might occur, Total time : 9674.525 us (Expected < 1666.667 us) --> Read time : 204.639 us, Update time : 28.821 us, Write time : 9441.065 us[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.592349 ms (missed cycles : 4). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.592349 ms (missed cycles : 4).[0m ×2 + 9.77sWARNcontroller_managerOverrun might occur, Total time : 2119.761 us (Expected < 1666.667 us) --> Read time : 296.903 us, Update time : 58.773 us, Write time : 1764.085 us + 9.77sWARNros2_control_nodeOverrun might occur, Total time : 2119.761 us (Expected < 1666.667 us) --> Read time : 296.903 us, Update time : 58.773 us, Write time : 1764.085 us[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.035792 ms (missed cycles : 7). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.035792 ms (missed cycles : 7).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.207429 ms (missed cycles : 6). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.207429 ms (missed cycles : 6).[0m ×2 + 11.10sWARNcontroller_managerOverrun might occur, Total time : 1979.594 us (Expected < 1666.667 us) --> Read time : 1398.840 us, Update time : 120.995 us, Write time : 459.759 us + 11.10sWARNros2_control_nodeOverrun might occur, Total time : 1979.594 us (Expected < 1666.667 us) --> Read time : 1398.840 us, Update time : 120.995 us, Write time : 459.759 us[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352184 ms (missed cycles : 3). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352184 ms (missed cycles : 3).[0m ×2 + 12.17sWARNcontroller_managerOverrun might occur, Total time : 2055.508 us (Expected < 1666.667 us) --> Read time : 239.810 us, Update time : 64.933 us, Write time : 1750.765 us + 12.17sWARNros2_control_nodeOverrun might occur, Total time : 2055.508 us (Expected < 1666.667 us) --> Read time : 239.810 us, Update time : 64.933 us, Write time : 1750.765 us[0m ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845236 ms (missed cycles : 2). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845236 ms (missed cycles : 2).[0m ×2 + 13.36sWARNcontroller_managerOverrun might occur, Total time : 1887.520 us (Expected < 1666.667 us) --> Read time : 885.548 us, Update time : 67.612 us, Write time : 934.360 us + 13.37sWARNros2_control_nodeOverrun might occur, Total time : 1887.520 us (Expected < 1666.667 us) --> Read time : 885.548 us, Update time : 67.612 us, Write time : 934.360 us[0m ×2 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448805 ms (missed cycles : 6). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448805 ms (missed cycles : 6).[0m ×2 + 14.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1781203731.57479310 seconds ×3 + 14.44sWARNcontroller_managerOverrun might occur, Total time : 1900.721 us (Expected < 1666.667 us) --> Read time : 233.050 us, Update time : 678.769 us, Write time : 988.902 us + 14.44sWARNros2_control_nodeOverrun might occur, Total time : 1900.721 us (Expected < 1666.667 us) --> Read time : 233.050 us, Update time : 678.769 us, Write time : 988.902 us[0m ×2 + 14.97sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1781203732.16971040 seconds. ×3 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751056 ms (missed cycles : 5). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751056 ms (missed cycles : 5).[0m ×2 + 15.21sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 15.24sINFOros2_control_node[2026-06-11 18:48:52.440] [info] Received new action goal ×2 + 15.24sINFOros2_control_node[2026-06-11 18:48:52.440] [info] Accepted new action goal ×2 + 15.68sWARNcontroller_managerOverrun might occur, Total time : 2160.502 us (Expected < 1666.667 us) --> Read time : 387.236 us, Update time : 700.790 us, Write time : 1072.476 us + 15.68sWARNros2_control_nodeOverrun might occur, Total time : 2160.502 us (Expected < 1666.667 us) --> Read time : 387.236 us, Update time : 700.790 us, Write time : 1072.476 us[0m ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880996 ms (missed cycles : 3). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880996 ms (missed cycles : 3).[0m ×2 + 16.80sWARNcontroller_managerOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 1288.535 us, Update time : 75.963 us, Write time : 474.771 us + 16.80sWARNros2_control_nodeOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 1288.535 us, Update time : 75.963 us, Write time : 474.771 us[0m ×2 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865463 ms (missed cycles : 3). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865463 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 108 warnings · 329 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 0.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.55sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 0.92sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.12sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.21sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.21sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 1.93sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 1.93sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.39sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.39sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.15sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.19sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.32sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 + 6.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 6.74sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.75sINFOros2_control_node[2026-06-11 18:44:08.607] [info] Received new action goal ×2 + 6.75sINFOros2_control_node[2026-06-11 18:44:08.607] [info] Accepted new action goal ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.618894 ms (missed cycles : 8). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.618894 ms (missed cycles : 8).[0m ×2 + 7.43sWARNcontroller_managerOverrun might occur, Total time : 2111.201 us (Expected < 1666.667 us) --> Read time : 214.319 us, Update time : 819.566 us, Write time : 1077.316 us + 7.44sWARNros2_control_nodeOverrun might occur, Total time : 2111.201 us (Expected < 1666.667 us) --> Read time : 214.319 us, Update time : 819.566 us, Write time : 1077.316 us[0m ×2 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.521494 ms (missed cycles : 6). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.521494 ms (missed cycles : 6).[0m ×2 + 8.56sWARNcontroller_managerOverrun might occur, Total time : 2045.478 us (Expected < 1666.667 us) --> Read time : 209.179 us, Update time : 853.577 us, Write time : 982.722 us + 8.56sWARNros2_control_nodeOverrun might occur, Total time : 2045.478 us (Expected < 1666.667 us) --> Read time : 209.179 us, Update time : 853.577 us, Write time : 982.722 us[0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979324 ms (missed cycles : 3). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979324 ms (missed cycles : 3).[0m ×2 + 9.88sWARNcontroller_managerOverrun might occur, Total time : 5330.449 us (Expected < 1666.667 us) --> Read time : 383.446 us, Update time : 74.663 us, Write time : 4872.340 us + 9.88sWARNros2_control_nodeOverrun might occur, Total time : 5330.449 us (Expected < 1666.667 us) --> Read time : 383.446 us, Update time : 74.663 us, Write time : 4872.340 us[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220485 ms (missed cycles : 2). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220485 ms (missed cycles : 2).[0m ×2 + 10.50sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 10.51sINFOros2_control_node[2026-06-11 18:44:12.362] [info] Received new action goal ×2 + 10.51sINFOros2_control_node[2026-06-11 18:44:12.362] [info] Accepted new action goal ×2 + 11.01sWARNcontroller_managerOverrun might occur, Total time : 3893.647 us (Expected < 1666.667 us) --> Read time : 204.758 us, Update time : 3130.425 us, Write time : 558.464 us + 11.02sWARNros2_control_nodeOverrun might occur, Total time : 3893.647 us (Expected < 1666.667 us) --> Read time : 204.758 us, Update time : 3130.425 us, Write time : 558.464 us[0m ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235122 ms (missed cycles : 3). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235122 ms (missed cycles : 3).[0m ×2 + 12.12sWARNcontroller_managerOverrun might occur, Total time : 1738.745 us (Expected < 1666.667 us) --> Read time : 291.692 us, Update time : 61.043 us, Write time : 1386.010 us + 12.12sWARNros2_control_nodeOverrun might occur, Total time : 1738.745 us (Expected < 1666.667 us) --> Read time : 291.692 us, Update time : 61.043 us, Write time : 1386.010 us[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484920 ms (missed cycles : 3). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484920 ms (missed cycles : 3).[0m ×2 + 13.13sWARNcontroller_managerOverrun might occur, Total time : 7221.761 us (Expected < 1666.667 us) --> Read time : 357.255 us, Update time : 6301.612 us, Write time : 562.894 us + 13.13sWARNros2_control_nodeOverrun might occur, Total time : 7221.761 us (Expected < 1666.667 us) --> Read time : 357.255 us, Update time : 6301.612 us, Write time : 562.894 us[0m ×2 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.930563 ms (missed cycles : 10). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.930563 ms (missed cycles : 10).[0m ×2 + 13.81sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 13.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.83sINFOros2_control_node[2026-06-11 18:44:15.682] [info] Received new action goal ×2 + 13.83sINFOros2_control_node[2026-06-11 18:44:15.683] [info] Accepted new action goal ×2 + 14.28sWARNcontroller_managerOverrun might occur, Total time : 2813.841 us (Expected < 1666.667 us) --> Read time : 341.675 us, Update time : 1951.034 us, Write time : 521.132 us + 14.28sWARNros2_control_nodeOverrun might occur, Total time : 2813.841 us (Expected < 1666.667 us) --> Read time : 341.675 us, Update time : 1951.034 us, Write time : 521.132 us[0m ×2 + 14.32sINFOros2_control_node[2026-06-11 18:44:16.178] [info] Got request to cancel active goal. ×2 + 14.32sINFOros2_control_node[2026-06-11 18:44:16.178] [info] Canceling active goal... ×2 + 14.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781203456.19404316 seconds ×3 + 14.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.935008 ms (missed cycles : 7). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.935008 ms (missed cycles : 7).[0m ×2 + 14.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781203456.77797389 seconds. ×3 + 15.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781203456.90811849 seconds ×3 + 15.28sWARNcontroller_managerOverrun might occur, Total time : 1789.677 us (Expected < 1666.667 us) --> Read time : 272.121 us, Update time : 63.383 us, Write time : 1454.173 us + 15.28sWARNros2_control_nodeOverrun might occur, Total time : 1789.677 us (Expected < 1666.667 us) --> Read time : 272.121 us, Update time : 63.383 us, Write time : 1454.173 us[0m ×2 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955072 ms (missed cycles : 3). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955072 ms (missed cycles : 3).[0m ×2 + 15.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781203457.57641411 seconds. ×3 + 15.91sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 15.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.93sINFOros2_control_node[2026-06-11 18:44:17.781] [info] Received new action goal ×2 + 15.93sINFOros2_control_node[2026-06-11 18:44:17.781] [info] Accepted new action goal ×2 + 16.38sWARNcontroller_managerOverrun might occur, Total time : 6807.533 us (Expected < 1666.667 us) --> Read time : 323.894 us, Update time : 5948.146 us, Write time : 535.493 us + 16.38sWARNros2_control_nodeOverrun might occur, Total time : 6807.533 us (Expected < 1666.667 us) --> Read time : 323.894 us, Update time : 5948.146 us, Write time : 535.493 us[0m ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287781 ms (missed cycles : 6). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287781 ms (missed cycles : 6).[0m ×2 + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769084 ms (missed cycles : 5). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769084 ms (missed cycles : 5).[0m ×2 + 17.52sWARNcontroller_managerOverrun might occur, Total time : 2008.017 us (Expected < 1666.667 us) --> Read time : 329.824 us, Update time : 818.976 us, Write time : 859.217 us + 17.52sWARNros2_control_nodeOverrun might occur, Total time : 2008.017 us (Expected < 1666.667 us) --> Read time : 329.824 us, Update time : 818.976 us, Write time : 859.217 us[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 105 warnings · 161 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us[0m ×2 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×8 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Accepted new action goal ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781203482.10095286 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2).[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us + 3.72sWARNros2_control_nodeOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781203482.84044862 seconds. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6).[0m ×2 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6).[0m ×2 + 7.15sWARNcontroller_managerOverrun might occur, Total time : 2306.409 us (Expected < 1666.667 us) --> Read time : 1673.722 us, Update time : 143.096 us, Write time : 489.591 us + 7.15sWARNros2_control_nodeOverrun might occur, Total time : 2306.409 us (Expected < 1666.667 us) --> Read time : 1673.722 us, Update time : 143.096 us, Write time : 489.591 us[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667244 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667244 ms (missed cycles : 3).[0m ×2 + 8.22sWARNcontroller_managerOverrun might occur, Total time : 2045.758 us (Expected < 1666.667 us) --> Read time : 205.889 us, Update time : 1413.491 us, Write time : 426.378 us + 8.22sWARNros2_control_nodeOverrun might occur, Total time : 2045.758 us (Expected < 1666.667 us) --> Read time : 205.889 us, Update time : 1413.491 us, Write time : 426.378 us[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.707888 ms (missed cycles : 5). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.707888 ms (missed cycles : 5).[0m ×2 + 9.35sWARNcontroller_managerOverrun might occur, Total time : 6638.836 us (Expected < 1666.667 us) --> Read time : 218.110 us, Update time : 73.293 us, Write time : 6347.433 us + 9.36sWARNros2_control_nodeOverrun might occur, Total time : 6638.836 us (Expected < 1666.667 us) --> Read time : 218.110 us, Update time : 73.293 us, Write time : 6347.433 us[0m ×2 + 9.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.54sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740757 ms (missed cycles : 6). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740757 ms (missed cycles : 6).[0m ×2 + 9.82sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 9.82sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 9.83sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.87sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 9.93sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 9.95sINFOobjective_server_nodeFound path in 5 iterations (0.00324065 s). ×2 + 9.98sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 10.01sINFOobjective_server_nodeFound path in 1 iterations (0.00288535 s). ×2 + 10.09sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 10.11sINFOobjective_server_nodeFound path in 2 iterations (0.00453971 s). ×2 + 10.16sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X______________________X] ×2 + 10.18sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 10.27sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 10.32sINFOros2_control_node[2026-06-11 18:44:49.127] [info] Received new action goal ×2 + 10.32sINFOros2_control_node[2026-06-11 18:44:49.127] [info] Accepted new action goal ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537621 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537621 ms (missed cycles : 3).[0m ×2 + 10.62sWARNcontroller_managerOverrun might occur, Total time : 1943.233 us (Expected < 1666.667 us) --> Read time : 215.359 us, Update time : 771.643 us, Write time : 956.231 us + 10.62sWARNros2_control_nodeOverrun might occur, Total time : 1943.233 us (Expected < 1666.667 us) --> Read time : 215.359 us, Update time : 771.643 us, Write time : 956.231 us[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934023 ms (missed cycles : 2). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934023 ms (missed cycles : 2).[0m ×2 + 11.70sWARNcontroller_managerOverrun might occur, Total time : 6003.399 us (Expected < 1666.667 us) --> Read time : 343.475 us, Update time : 4937.953 us, Write time : 721.971 us + 11.70sWARNros2_control_nodeOverrun might occur, Total time : 6003.399 us (Expected < 1666.667 us) --> Read time : 343.475 us, Update time : 4937.953 us, Write time : 721.971 us[0m ×2 + 12.51sINFOparameter_manager_nodeRetrieving joint state from parameter manager. ×3 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292240 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292240 ms (missed cycles : 2).[0m ×2 + 12.78sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.78sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.79sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 12.79sINFOparameter_manager_nodeClearing stored parameters in parameter manager. ×3 + 12.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1781203491.61327434 seconds ×3 + 12.81sWARNcontroller_managerOverrun might occur, Total time : 3887.787 us (Expected < 1666.667 us) --> Read time : 227.190 us, Update time : 3108.914 us, Write time : 551.683 us + 12.82sWARNros2_control_nodeOverrun might occur, Total time : 3887.787 us (Expected < 1666.667 us) --> Read time : 227.190 us, Update time : 3108.914 us, Write time : 551.683 us[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111966 ms (missed cycles : 3). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111966 ms (missed cycles : 3).[0m ×2 + 14.03sWARNcontroller_managerOverrun might occur, Total time : 2086.511 us (Expected < 1666.667 us) --> Read time : 297.663 us, Update time : 718.101 us, Write time : 1070.747 us + 14.03sWARNros2_control_nodeOverrun might occur, Total time : 2086.511 us (Expected < 1666.667 us) --> Read time : 297.663 us, Update time : 718.101 us, Write time : 1070.747 us[0m ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.211889 ms (missed cycles : 5). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.211889 ms (missed cycles : 5).[0m ×2 + 15.00sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1781203493.81042576 seconds. ×3 + 15.06sWARNcontroller_managerOverrun might occur, Total time : 2136.042 us (Expected < 1666.667 us) --> Read time : 963.071 us, Update time : 634.898 us, Write time : 538.073 us + 15.06sWARNros2_control_nodeOverrun might occur, Total time : 2136.042 us (Expected < 1666.667 us) --> Read time : 963.071 us, Update time : 634.898 us, Write time : 538.073 us[0m ×2 + 15.21sINFOros2_control_node[2026-06-11 18:44:54.015] [info] Received new action goal ×2 + 15.21sINFOros2_control_node[2026-06-11 18:44:54.015] [info] Accepted new action goal ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811775 ms (missed cycles : 2). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811775 ms (missed cycles : 2).[0m ×2 + 16.09sWARNcontroller_managerOverrun might occur, Total time : 2042.839 us (Expected < 1666.667 us) --> Read time : 334.925 us, Update time : 739.892 us, Write time : 968.022 us + 16.09sWARNros2_control_nodeOverrun might occur, Total time : 2042.839 us (Expected < 1666.667 us) --> Read time : 334.925 us, Update time : 739.892 us, Write time : 968.022 us[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.617936 ms (missed cycles : 5). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.617936 ms (missed cycles : 5).[0m ×2 + 17.30sWARNcontroller_managerOverrun might occur, Total time : 5142.522 us (Expected < 1666.667 us) --> Read time : 249.630 us, Update time : 177.428 us, Write time : 4715.464 us + 17.31sWARNros2_control_nodeOverrun might occur, Total time : 5142.522 us (Expected < 1666.667 us) --> Read time : 249.630 us, Update time : 177.428 us, Write time : 4715.464 us[0m ×2 + 17.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648829 ms (missed cycles : 5). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648829 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 99 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934023 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934023 ms (missed cycles : 2).[0m ×2 + 0.10sWARNcontroller_managerOverrun might occur, Total time : 6003.399 us (Expected < 1666.667 us) --> Read time : 343.475 us, Update time : 4937.953 us, Write time : 721.971 us + 0.10sWARNros2_control_nodeOverrun might occur, Total time : 6003.399 us (Expected < 1666.667 us) --> Read time : 343.475 us, Update time : 4937.953 us, Write time : 721.971 us[0m ×2 + 0.91sINFOparameter_manager_nodeRetrieving joint state from parameter manager. ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292240 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292240 ms (missed cycles : 2).[0m ×2 + 1.18sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.18sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.19sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 1.19sINFOparameter_manager_nodeClearing stored parameters in parameter manager. ×3 + 1.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1781203491.61327434 seconds ×3 + 1.21sWARNcontroller_managerOverrun might occur, Total time : 3887.787 us (Expected < 1666.667 us) --> Read time : 227.190 us, Update time : 3108.914 us, Write time : 551.683 us + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 3887.787 us (Expected < 1666.667 us) --> Read time : 227.190 us, Update time : 3108.914 us, Write time : 551.683 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111966 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111966 ms (missed cycles : 3).[0m ×2 + 2.43sWARNcontroller_managerOverrun might occur, Total time : 2086.511 us (Expected < 1666.667 us) --> Read time : 297.663 us, Update time : 718.101 us, Write time : 1070.747 us + 2.43sWARNros2_control_nodeOverrun might occur, Total time : 2086.511 us (Expected < 1666.667 us) --> Read time : 297.663 us, Update time : 718.101 us, Write time : 1070.747 us[0m ×2 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.211889 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.211889 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1781203493.81042576 seconds. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sWARNcontroller_managerOverrun might occur, Total time : 2136.042 us (Expected < 1666.667 us) --> Read time : 963.071 us, Update time : 634.898 us, Write time : 538.073 us + 3.46sWARNros2_control_nodeOverrun might occur, Total time : 2136.042 us (Expected < 1666.667 us) --> Read time : 963.071 us, Update time : 634.898 us, Write time : 538.073 us[0m ×2 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.61sINFOros2_control_node[2026-06-11 18:44:54.015] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-06-11 18:44:54.015] [info] Accepted new action goal ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811775 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811775 ms (missed cycles : 2).[0m ×2 + 4.49sWARNcontroller_managerOverrun might occur, Total time : 2042.839 us (Expected < 1666.667 us) --> Read time : 334.925 us, Update time : 739.892 us, Write time : 968.022 us + 4.49sWARNros2_control_nodeOverrun might occur, Total time : 2042.839 us (Expected < 1666.667 us) --> Read time : 334.925 us, Update time : 739.892 us, Write time : 968.022 us[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.617936 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.617936 ms (missed cycles : 5).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 5142.522 us (Expected < 1666.667 us) --> Read time : 249.630 us, Update time : 177.428 us, Write time : 4715.464 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 5142.522 us (Expected < 1666.667 us) --> Read time : 249.630 us, Update time : 177.428 us, Write time : 4715.464 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648829 ms (missed cycles : 5). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648829 ms (missed cycles : 5).[0m ×2 + 7.18sWARNcontroller_managerOverrun might occur, Total time : 8125.830 us (Expected < 1666.667 us) --> Read time : 233.600 us, Update time : 7318.245 us, Write time : 573.985 us + 7.18sWARNros2_control_nodeOverrun might occur, Total time : 8125.830 us (Expected < 1666.667 us) --> Read time : 233.600 us, Update time : 7318.245 us, Write time : 573.985 us[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788169 ms (missed cycles : 3). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788169 ms (missed cycles : 3).[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676453 ms (missed cycles : 3). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676453 ms (missed cycles : 3).[0m ×2 + 8.34sWARNcontroller_managerOverrun might occur, Total time : 5333.360 us (Expected < 1666.667 us) --> Read time : 231.630 us, Update time : 55.372 us, Write time : 5046.358 us + 8.35sWARNros2_control_nodeOverrun might occur, Total time : 5333.360 us (Expected < 1666.667 us) --> Read time : 231.630 us, Update time : 55.372 us, Write time : 5046.358 us[0m ×2 + 9.14sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.14sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.14sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294710 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294710 ms (missed cycles : 2).[0m ×2 + 9.41sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×4 + 9.42sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 9.42sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.43sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 9.49sWARNcontroller_managerOverrun might occur, Total time : 1904.842 us (Expected < 1666.667 us) --> Read time : 248.110 us, Update time : 190.709 us, Write time : 1466.023 us + 9.49sWARNros2_control_nodeOverrun might occur, Total time : 1904.842 us (Expected < 1666.667 us) --> Read time : 248.110 us, Update time : 190.709 us, Write time : 1466.023 us[0m ×2 + 9.49sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 9.51sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 9.54sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 9.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 9.59sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 9.61sINFOobjective_server_nodeFound path in 5 iterations (0.00327881 s). ×2 + 9.66sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 9.68sINFOobjective_server_nodeFound path in 1 iterations (0.00244802 s). ×2 + 9.75sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 9.76sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 9.84sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.89sINFOros2_control_node[2026-06-11 18:45:00.298] [info] Received new action goal ×2 + 9.89sINFOros2_control_node[2026-06-11 18:45:00.298] [info] Accepted new action goal ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.973935 ms (missed cycles : 4). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.973935 ms (missed cycles : 4).[0m ×2 + 10.52sWARNcontroller_managerOverrun might occur, Total time : 6496.660 us (Expected < 1666.667 us) --> Read time : 229.440 us, Update time : 45.152 us, Write time : 6222.068 us + 10.53sWARNros2_control_nodeOverrun might occur, Total time : 6496.660 us (Expected < 1666.667 us) --> Read time : 229.440 us, Update time : 45.152 us, Write time : 6222.068 us[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991026 ms (missed cycles : 4). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991026 ms (missed cycles : 4).[0m ×2 + 11.60sWARNcontroller_managerOverrun might occur, Total time : 2060.639 us (Expected < 1666.667 us) --> Read time : 210.399 us, Update time : 1416.741 us, Write time : 433.499 us + 11.60sWARNros2_control_nodeOverrun might occur, Total time : 2060.639 us (Expected < 1666.667 us) --> Read time : 210.399 us, Update time : 1416.741 us, Write time : 433.499 us[0m ×2 + 12.34sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 12.34sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.34sINFOobjective_server_nodeFound path in 0 iterations (5.61e-07 s). ×2 + 12.34sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 12.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 12.43sINFOobjective_server_nodeFound path in 5 iterations (0.00717264 s). ×2 + 12.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308795 ms (missed cycles : 4). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308795 ms (missed cycles : 4).[0m ×2 + 12.52sINFOros2_control_node[2026-06-11 18:45:02.927] [info] Received new action goal ×2 + 12.52sINFOros2_control_node[2026-06-11 18:45:02.927] [info] Accepted new action goal ×2 + 12.76sWARNcontroller_managerOverrun might occur, Total time : 2056.798 us (Expected < 1666.667 us) --> Read time : 825.165 us, Update time : 97.034 us, Write time : 1134.599 us + 12.76sWARNros2_control_nodeOverrun might occur, Total time : 2056.798 us (Expected < 1666.667 us) --> Read time : 825.165 us, Update time : 97.034 us, Write time : 1134.599 us[0m ×2 + 12.92sINFOros2_control_node[2026-06-11 18:45:03.328] [info] Received new action goal ×2 + 12.92sINFOros2_control_node[2026-06-11 18:45:03.328] [info] Accepted new action goal ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770610 ms (missed cycles : 3). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770610 ms (missed cycles : 3).[0m ×2 + 13.67sINFOros2_control_node[2026-06-11 18:45:04.080] [info] Got request to cancel active goal. ×2 + 13.67sINFOros2_control_node[2026-06-11 18:45:04.081] [info] Canceling active goal... ×2 + 13.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1781203504.09980226 seconds ×3 + 13.76sWARNcontroller_managerOverrun might occur, Total time : 1835.589 us (Expected < 1666.667 us) --> Read time : 348.795 us, Update time : 819.665 us, Write time : 667.129 us + 13.76sWARNros2_control_nodeOverrun might occur, Total time : 1835.589 us (Expected < 1666.667 us) --> Read time : 348.795 us, Update time : 819.665 us, Write time : 667.129 us[0m ×2 + 14.36sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1781203504.76988959 seconds. ×3 + 14.52sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 14.52sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 14.54sINFOros2_control_node[2026-06-11 18:45:04.945] [info] Received new action goal ×2 + 14.54sINFOros2_control_node[2026-06-11 18:45:04.945] [info] Accepted new action goal ×2 + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961500 ms (missed cycles : 2). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961500 ms (missed cycles : 2).[0m ×2 + 14.98sWARNcontroller_managerOverrun might occur, Total time : 2025.967 us (Expected < 1666.667 us) --> Read time : 372.086 us, Update time : 630.227 us, Write time : 1023.654 us + 14.98sWARNros2_control_nodeOverrun might occur, Total time : 2025.967 us (Expected < 1666.667 us) --> Read time : 372.086 us, Update time : 630.227 us, Write time : 1023.654 us[0m ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791971 ms (missed cycles : 3). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791971 ms (missed cycles : 3).[0m ×2 + 16.39sWARNcontroller_managerOverrun might occur, Total time : 8364.549 us (Expected < 1666.667 us) --> Read time : 302.173 us, Update time : 101.914 us, Write time : 7960.462 us + 16.40sWARNros2_control_nodeOverrun might occur, Total time : 8364.549 us (Expected < 1666.667 us) --> Read time : 302.173 us, Update time : 101.914 us, Write time : 7960.462 us[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108193 ms (missed cycles : 4). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108193 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.9s | 59 errors · 65 warnings · 354 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2871.354 us (Expected < 1666.667 us) --> Read time : 776.674 us, Update time : 680.449 us, Write time : 1414.231 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2871.354 us (Expected < 1666.667 us) --> Read time : 776.674 us, Update time : 680.449 us, Write time : 1414.231 us[0m ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.772661 ms (missed cycles : 7). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.772661 ms (missed cycles : 7).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 5439.624 us (Expected < 1666.667 us) --> Read time : 211.149 us, Update time : 860.087 us, Write time : 4368.388 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 5439.624 us (Expected < 1666.667 us) --> Read time : 211.149 us, Update time : 860.087 us, Write time : 4368.388 us[0m ×2 + 1.17sINFOros2_control_node[2026-06-11 18:49:25.681] [info] Got request to cancel active goal. ×2 + 1.17sINFOros2_control_node[2026-06-11 18:49:25.681] [info] Canceling active goal... ×2 + 1.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781203765.68696427 seconds ×3 + 1.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781203766.27736068 seconds. ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404711 ms (missed cycles : 3). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404711 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 1777.076 us (Expected < 1666.667 us) --> Read time : 224.699 us, Update time : 593.916 us, Write time : 958.461 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 1777.076 us (Expected < 1666.667 us) --> Read time : 224.699 us, Update time : 593.916 us, Write time : 958.461 us[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781203767.08749461 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866129 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866129 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781203767.68061733 seconds. ×3 + 3.17sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.17sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.17sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781203767.68240118 seconds ×3 + 3.36sWARNcontroller_managerOverrun might occur, Total time : 7481.311 us (Expected < 1666.667 us) --> Read time : 274.431 us, Update time : 6461.988 us, Write time : 744.892 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 7481.311 us (Expected < 1666.667 us) --> Read time : 274.431 us, Update time : 6461.988 us, Write time : 744.892 us[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781203768.26485419 seconds. ×3 + 3.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781203768.26550388 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724335 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724335 ms (missed cycles : 2).[0m ×2 + 4.39sWARNcontroller_managerOverrun might occur, Total time : 3207.228 us (Expected < 1666.667 us) --> Read time : 281.052 us, Update time : 983.622 us, Write time : 1942.554 us + 4.39sWARNros2_control_nodeOverrun might occur, Total time : 3207.228 us (Expected < 1666.667 us) --> Read time : 281.052 us, Update time : 983.622 us, Write time : 1942.554 us[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781203768.95283818 seconds. ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.713477 ms (missed cycles : 6). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.713477 ms (missed cycles : 6).[0m ×2 + 5.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781203769.62299514 seconds ×3 + 5.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.89sWARNcontroller_managerOverrun might occur, Total time : 2276.716 us (Expected < 1666.667 us) --> Read time : 242.730 us, Update time : 1524.835 us, Write time : 509.151 us + 5.89sWARNros2_control_nodeOverrun might occur, Total time : 2276.716 us (Expected < 1666.667 us) --> Read time : 242.730 us, Update time : 1524.835 us, Write time : 509.151 us[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578772 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578772 ms (missed cycles : 3).[0m ×2 + 6.91sWARNcontroller_managerOverrun might occur, Total time : 3084.572 us (Expected < 1666.667 us) --> Read time : 368.906 us, Update time : 720.111 us, Write time : 1995.555 us + 6.91sWARNros2_control_nodeOverrun might occur, Total time : 3084.572 us (Expected < 1666.667 us) --> Read time : 368.906 us, Update time : 720.111 us, Write time : 1995.555 us[0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.757837 ms (missed cycles : 5). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.757837 ms (missed cycles : 5).[0m ×2 + 7.98sWARNcontroller_managerOverrun might occur, Total time : 2049.568 us (Expected < 1666.667 us) --> Read time : 203.569 us, Update time : 998.773 us, Write time : 847.226 us + 7.98sWARNros2_control_nodeOverrun might occur, Total time : 2049.568 us (Expected < 1666.667 us) --> Read time : 203.569 us, Update time : 998.773 us, Write time : 847.226 us[0m ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062239 ms (missed cycles : 4). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062239 ms (missed cycles : 4).[0m ×2 + 8.99sWARNcontroller_managerOverrun might occur, Total time : 5061.207 us (Expected < 1666.667 us) --> Read time : 215.929 us, Update time : 4155.618 us, Write time : 689.660 us + 8.99sWARNros2_control_nodeOverrun might occur, Total time : 5061.207 us (Expected < 1666.667 us) --> Read time : 215.929 us, Update time : 4155.618 us, Write time : 689.660 us[0m ×2 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952208 ms (missed cycles : 2). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952208 ms (missed cycles : 2).[0m ×2 + 10.04sWARNcontroller_managerOverrun might occur, Total time : 2302.389 us (Expected < 1666.667 us) --> Read time : 780.194 us, Update time : 232.720 us, Write time : 1289.475 us + 10.05sWARNros2_control_nodeOverrun might occur, Total time : 2302.389 us (Expected < 1666.667 us) --> Read time : 780.194 us, Update time : 232.720 us, Write time : 1289.475 us[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296776 ms (missed cycles : 3). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296776 ms (missed cycles : 3).[0m ×2 + 10.56sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORweb_bridge-18process[web_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.60sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.60sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.60sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] ×2 + 10.61sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] ×2 + 10.62sINFOweb_bridge-18sending signal 'SIGTERM' to process[web_bridge-18] ×2 + 10.63sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] ×2 + 10.63sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] ×2 + 10.64sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.65sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.66sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.67sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.68sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.69sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.70sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.71sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.71sINFOcontroller_managerShutdown request received.... + 10.71sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.71sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.71sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.71sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.71sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.71sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.71sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.71sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.71sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.71sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.71sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.71sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.72sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.72sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.72sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.72sINFOcontroller_managerShutting down the controller manager. + 10.72sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.72sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.72sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.72sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.72sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 10.72sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.72sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.72sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.72sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.72sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.72sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.72sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.72sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.72sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.72sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.72sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.72sERRORmove_groupStack trace (most recent call last) in thread 9444: ×2 + 10.72sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.72sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f77d628ba63, in __clone ×2 + 10.72sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f77d61feaa3, in ×2 + 10.72sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.72sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.72sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.72sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f77d6490db3, in ×2 + 10.72sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.72sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7f77d6ae519a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.72sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.72sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f77d68034d0, in rclcpp::Rate::sleep() ×2 + 10.72sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f77d6756a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.72sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f77d671ba71, in ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.73sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.73sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.73sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.73sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.73sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.73sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.73sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.73sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f77d645f390, in __cxa_throw ×2 + 10.73sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f77d6449a54, in std::terminate() ×2 + 10.73sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f77d645f0d9, in ×2 + 10.73sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f77d6449ff4, in ×2 + 10.73sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f77d618a8fe, in abort ×2 + 10.73sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f77d61a727d, in raise ×2 + 10.73sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f77d6200b2c, in pthread_kill ×2 + 10.73sERRORmove_groupAborted (Signal sent by tkill() 9157 0) ×2 + 10.73sERRORmove_group-9process has died [pid 9157, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level error --ros-args --params-file /tmp/launch_params_x2gecn71 --params-file /tmp/launch_params_6ajjpgt6 --params-file /tmp/launch_params_5avddddj --params-file /tmp/launch_params_q9owz7e1 --params-file /tmp/launch_params_adgnxscg --params-file /tmp/launch_params_vyfxc5ah --params-file /tmp/launch_params_6mbuvh4v --params-file /tmp/launch_params_da1mzakn --params-file /tmp/launch_params_95in4c06']. ×2 + 10.75sINFOobjective_server_node[0;m[2026-06-11 18:49:35.253] [moveit_pro_license] [info] ×2 + 10.75sINFOobjective_server_node************************************************* ×4 + 10.75sINFOobjective_server_node* MoveIt Pro License ×2 + 10.75sINFOobjective_server_node* Application has successfully terminated ×2 + 10.87sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.89sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.89sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55de002e76a4, in _start ×2 + 10.89sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9f8a22d28a, in __libc_start_main ×2 + 10.89sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9f8a22d1d0, in ×2 + 10.89sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9f8a24abbd, in exit ×2 + 10.89sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9f8a24aa75, in ×2 + 10.89sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f9f8a71c4a2, in spdlog::details::registry::~registry() ×2 + 10.89sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f9f8a72769d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 10.89sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f9f8a721965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.89sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55de002ee315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.89sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55de002ed5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.89sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55de002e9b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.89sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55de002e7d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.89sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9f8ad9f454, in rclcpp::Node::~Node() ×2 + 10.89sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9f8ad5a515, in ×2 + 10.89sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9f8ad9dd20, in ×2 + 10.89sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9f8ad9dc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.89sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9f8ad5a5d9, in ×2 + 10.89sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9f8ad5f161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.89sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f9f3a6585c8]) ×2 + 10.93sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.93sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.94sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.61sERRORobjective_server_node_main-14process has died [pid 9162, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_wawzl_20 --params-file /tmp/launch_params_sn0bkfm5 --params-file /tmp/launch_params_foebvubx --params-file /tmp/launch_params_o_ouobqp --params-file /tmp/launch_params_1v0j24v5 --params-file /tmp/launch_params_qi6m63rd']. ×2 + 11.61sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.62sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.65sINFOweb_video_server-20process has finished cleanly [pid 9281] ×2 + 11.66sINFOtf2_web_republisher_node-19process has finished cleanly [pid 9167] ×2 + 11.66sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system ×2 + 11.71sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9161] ×2 + 11.72sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9160] ×2 + 11.74sERRORui_teleop_bridge-17process has died [pid 9165, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_dyci17ym']. ×2 + 11.75sINFOexecute_objective_bridge-16process has finished cleanly [pid 9164] ×2 + 11.77sINFOwaypoint_manager_node-11process has finished cleanly [pid 9159] ×2 + 11.78sINFOparameter_manager_node-10process has finished cleanly [pid 9158] ×2 + 12.84sINFOweb_bridge-18process has finished cleanly [pid 9166] ×2 + 12.84sINFOlaunchprocess[web_bridge-18] was required: shutting down launched system ×2 + 12.88sINFOcomponent_container_mt-15process has finished cleanly [pid 9163] ×2 + 13.56sINFOros2_control_node-1process has finished cleanly [pid 9131] ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 96 warnings · 173 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2045.238 us (Expected < 1666.667 us) --> Read time : 242.660 us, Update time : 806.675 us, Write time : 995.903 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2045.238 us (Expected < 1666.667 us) --> Read time : 242.660 us, Update time : 806.675 us, Write time : 995.903 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822467 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822467 ms (missed cycles : 4).[0m ×2 + 0.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 3962.101 us (Expected < 1666.667 us) --> Read time : 3317.953 us, Update time : 72.293 us, Write time : 571.855 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 3962.101 us (Expected < 1666.667 us) --> Read time : 3317.953 us, Update time : 72.293 us, Write time : 571.855 us[0m ×2 + 1.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.34sINFOros2_control_node[2026-06-11 18:44:29.293] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-06-11 18:44:29.293] [info] Accepted new action goal ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933279 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933279 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 9445.797 us (Expected < 1666.667 us) --> Read time : 220.950 us, Update time : 8587.040 us, Write time : 637.807 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 9445.797 us (Expected < 1666.667 us) --> Read time : 220.950 us, Update time : 8587.040 us, Write time : 637.807 us[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781203470.56916690 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.103085 ms (missed cycles : 7). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.103085 ms (missed cycles : 7).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781203471.17452073 seconds. ×3 + 3.25sWARNcontroller_managerOverrun might occur, Total time : 1672.492 us (Expected < 1666.667 us) --> Read time : 242.090 us, Update time : 630.337 us, Write time : 800.065 us + 3.25sWARNros2_control_nodeOverrun might occur, Total time : 1672.492 us (Expected < 1666.667 us) --> Read time : 242.090 us, Update time : 630.337 us, Write time : 800.065 us[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781203471.27462053 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736210 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736210 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781203471.86785412 seconds. ×3 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-06-11 18:44:32.002] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-11 18:44:32.002] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun might occur, Total time : 6208.186 us (Expected < 1666.667 us) --> Read time : 227.329 us, Update time : 5411.433 us, Write time : 569.424 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 6208.186 us (Expected < 1666.667 us) --> Read time : 227.329 us, Update time : 5411.433 us, Write time : 569.424 us[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724223 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724223 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318414 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318414 ms (missed cycles : 3).[0m ×2 + 6.01sWARNcontroller_managerOverrun might occur, Total time : 3906.588 us (Expected < 1666.667 us) --> Read time : 372.786 us, Update time : 2826.422 us, Write time : 707.380 us + 6.01sWARNros2_control_nodeOverrun might occur, Total time : 3906.588 us (Expected < 1666.667 us) --> Read time : 372.786 us, Update time : 2826.422 us, Write time : 707.380 us[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X_______X] ×8 + 6.42sINFOros2_control_node[2026-06-11 18:44:34.372] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-06-11 18:44:34.372] [info] Accepted new action goal ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640416 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640416 ms (missed cycles : 3).[0m ×2 + 7.18sWARNcontroller_managerOverrun might occur, Total time : 1867.941 us (Expected < 1666.667 us) --> Read time : 762.213 us, Update time : 131.896 us, Write time : 973.832 us + 7.19sWARNros2_control_nodeOverrun might occur, Total time : 1867.941 us (Expected < 1666.667 us) --> Read time : 762.213 us, Update time : 131.896 us, Write time : 973.832 us[0m ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.970241 ms (missed cycles : 7). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.970241 ms (missed cycles : 7).[0m ×2 + 8.63sWARNcontroller_managerOverrun might occur, Total time : 2065.949 us (Expected < 1666.667 us) --> Read time : 345.455 us, Update time : 71.453 us, Write time : 1649.041 us + 8.63sWARNros2_control_nodeOverrun might occur, Total time : 2065.949 us (Expected < 1666.667 us) --> Read time : 345.455 us, Update time : 71.453 us, Write time : 1649.041 us[0m ×2 + 8.72sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.72sINFOros2_control_node[2026-06-11 18:44:36.679] [info] Received new action goal ×2 + 8.72sINFOros2_control_node[2026-06-11 18:44:36.679] [info] Accepted new action goal ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212342 ms (missed cycles : 3). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212342 ms (missed cycles : 3).[0m ×2 + 9.69sWARNcontroller_managerOverrun might occur, Total time : 5619.702 us (Expected < 1666.667 us) --> Read time : 250.041 us, Update time : 4771.956 us, Write time : 597.705 us + 9.69sWARNros2_control_nodeOverrun might occur, Total time : 5619.702 us (Expected < 1666.667 us) --> Read time : 250.041 us, Update time : 4771.956 us, Write time : 597.705 us[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508788 ms (missed cycles : 3). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508788 ms (missed cycles : 3).[0m ×2 + 10.85sWARNcontroller_managerOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us + 10.87sWARNros2_control_nodeOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3).[0m ×2 + 11.07sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 11.07sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Received new action goal ×2 + 11.07sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Accepted new action goal ×2 + 11.94sWARNcontroller_managerOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us + 11.95sWARNros2_control_nodeOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2).[0m ×2 + 13.02sWARNcontroller_managerOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us + 13.02sWARNros2_control_nodeOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2).[0m ×2 + 13.42sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 13.42sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Received new action goal ×2 + 13.42sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Accepted new action goal ×2 + 14.12sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Got request to cancel active goal. ×2 + 14.12sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Canceling active goal... ×2 + 14.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781203482.10095286 seconds ×3 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2).[0m ×2 + 14.57sWARNcontroller_managerOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us + 14.58sWARNros2_control_nodeOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us[0m ×2 + 14.88sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781203482.84044862 seconds. ×3 + 15.12sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 15.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.13sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Received new action goal ×2 + 15.13sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Accepted new action goal ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6).[0m ×2 + 15.58sWARNcontroller_managerOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us + 15.58sWARNros2_control_nodeOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2).[0m ×2 + 16.72sWARNcontroller_managerOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us + 16.72sWARNros2_control_nodeOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us[0m ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 99 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.207429 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.207429 ms (missed cycles : 6).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 1979.594 us (Expected < 1666.667 us) --> Read time : 1398.840 us, Update time : 120.995 us, Write time : 459.759 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 1979.594 us (Expected < 1666.667 us) --> Read time : 1398.840 us, Update time : 120.995 us, Write time : 459.759 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352184 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352184 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun might occur, Total time : 2055.508 us (Expected < 1666.667 us) --> Read time : 239.810 us, Update time : 64.933 us, Write time : 1750.765 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 2055.508 us (Expected < 1666.667 us) --> Read time : 239.810 us, Update time : 64.933 us, Write time : 1750.765 us[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845236 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845236 ms (missed cycles : 2).[0m ×2 + 2.39sWARNcontroller_managerOverrun might occur, Total time : 1887.520 us (Expected < 1666.667 us) --> Read time : 885.548 us, Update time : 67.612 us, Write time : 934.360 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 1887.520 us (Expected < 1666.667 us) --> Read time : 885.548 us, Update time : 67.612 us, Write time : 934.360 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448805 ms (missed cycles : 6). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448805 ms (missed cycles : 6).[0m ×2 + 3.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1781203731.57479310 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 1900.721 us (Expected < 1666.667 us) --> Read time : 233.050 us, Update time : 678.769 us, Write time : 988.902 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 1900.721 us (Expected < 1666.667 us) --> Read time : 233.050 us, Update time : 678.769 us, Write time : 988.902 us[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1781203732.16971040 seconds. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751056 ms (missed cycles : 5). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751056 ms (missed cycles : 5).[0m ×2 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.27sINFOros2_control_node[2026-06-11 18:48:52.440] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-06-11 18:48:52.440] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun might occur, Total time : 2160.502 us (Expected < 1666.667 us) --> Read time : 387.236 us, Update time : 700.790 us, Write time : 1072.476 us + 4.71sWARNros2_control_nodeOverrun might occur, Total time : 2160.502 us (Expected < 1666.667 us) --> Read time : 387.236 us, Update time : 700.790 us, Write time : 1072.476 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880996 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880996 ms (missed cycles : 3).[0m ×2 + 5.83sWARNcontroller_managerOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 1288.535 us, Update time : 75.963 us, Write time : 474.771 us + 5.83sWARNros2_control_nodeOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 1288.535 us, Update time : 75.963 us, Write time : 474.771 us[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865463 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865463 ms (missed cycles : 3).[0m ×2 + 6.97sWARNcontroller_managerOverrun might occur, Total time : 2045.438 us (Expected < 1666.667 us) --> Read time : 793.744 us, Update time : 82.274 us, Write time : 1169.420 us + 6.98sWARNros2_control_nodeOverrun might occur, Total time : 2045.438 us (Expected < 1666.667 us) --> Read time : 793.744 us, Update time : 82.274 us, Write time : 1169.420 us[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694286 ms (missed cycles : 3). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694286 ms (missed cycles : 3).[0m ×2 + 7.98sWARNcontroller_managerOverrun might occur, Total time : 2137.431 us (Expected < 1666.667 us) --> Read time : 383.106 us, Update time : 652.108 us, Write time : 1102.217 us + 7.98sWARNros2_control_nodeOverrun might occur, Total time : 2137.431 us (Expected < 1666.667 us) --> Read time : 383.106 us, Update time : 652.108 us, Write time : 1102.217 us[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494760 ms (missed cycles : 3). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494760 ms (missed cycles : 3).[0m ×2 + 8.28sINFOros2_control_node[2026-06-11 18:48:56.450] [info] Received new action goal ×2 + 8.28sINFOros2_control_node[2026-06-11 18:48:56.450] [info] Accepted new action goal ×2 + 9.18sWARNcontroller_managerOverrun might occur, Total time : 3659.806 us (Expected < 1666.667 us) --> Read time : 252.671 us, Update time : 69.503 us, Write time : 3337.632 us + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010297 ms (missed cycles : 3). + 9.19sWARNros2_control_nodeOverrun might occur, Total time : 3659.806 us (Expected < 1666.667 us) --> Read time : 252.671 us, Update time : 69.503 us, Write time : 3337.632 us[0m ×2 + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010297 ms (missed cycles : 3).[0m ×2 + 10.19sWARNcontroller_managerOverrun might occur, Total time : 2331.289 us (Expected < 1666.667 us) --> Read time : 399.977 us, Update time : 852.086 us, Write time : 1079.226 us + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528787 ms (missed cycles : 2). + 10.19sWARNros2_control_nodeOverrun might occur, Total time : 2331.289 us (Expected < 1666.667 us) --> Read time : 399.977 us, Update time : 852.086 us, Write time : 1079.226 us[0m ×2 + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528787 ms (missed cycles : 2).[0m ×2 + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.304737 ms (missed cycles : 6). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.304737 ms (missed cycles : 6).[0m ×2 + 11.37sWARNcontroller_managerOverrun might occur, Total time : 2157.742 us (Expected < 1666.667 us) --> Read time : 1539.526 us, Update time : 104.164 us, Write time : 514.052 us + 11.37sWARNros2_control_nodeOverrun might occur, Total time : 2157.742 us (Expected < 1666.667 us) --> Read time : 1539.526 us, Update time : 104.164 us, Write time : 514.052 us[0m ×2 + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373620 ms (missed cycles : 3). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373620 ms (missed cycles : 3).[0m ×2 + 12.68sWARNcontroller_managerOverrun might occur, Total time : 2181.293 us (Expected < 1666.667 us) --> Read time : 938.070 us, Update time : 98.504 us, Write time : 1144.719 us + 12.68sWARNros2_control_nodeOverrun might occur, Total time : 2181.293 us (Expected < 1666.667 us) --> Read time : 938.070 us, Update time : 98.504 us, Write time : 1144.719 us[0m ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853341 ms (missed cycles : 2). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853341 ms (missed cycles : 2).[0m ×2 + 13.71sWARNcontroller_managerOverrun might occur, Total time : 1734.915 us (Expected < 1666.667 us) --> Read time : 336.815 us, Update time : 934.570 us, Write time : 463.530 us + 13.71sWARNros2_control_nodeOverrun might occur, Total time : 1734.915 us (Expected < 1666.667 us) --> Read time : 336.815 us, Update time : 934.570 us, Write time : 463.530 us[0m ×2 + 13.86sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1781203742.03504848 seconds ×3 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720005 ms (missed cycles : 4). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720005 ms (missed cycles : 4).[0m ×2 + 14.47sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1781203742.64097166 seconds. ×3 + 14.58sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 14.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.60sINFOros2_control_node[2026-06-11 18:49:02.772] [info] Received new action goal ×2 + 14.60sINFOros2_control_node[2026-06-11 18:49:02.772] [info] Accepted new action goal ×2 + 14.80sWARNcontroller_managerOverrun might occur, Total time : 1912.672 us (Expected < 1666.667 us) --> Read time : 223.530 us, Update time : 73.653 us, Write time : 1615.489 us + 14.80sWARNros2_control_nodeOverrun might occur, Total time : 1912.672 us (Expected < 1666.667 us) --> Read time : 223.530 us, Update time : 73.653 us, Write time : 1615.489 us[0m ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732940 ms (missed cycles : 3). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732940 ms (missed cycles : 3).[0m ×2 + 15.81sWARNcontroller_managerOverrun might occur, Total time : 3575.153 us (Expected < 1666.667 us) --> Read time : 188.088 us, Update time : 2918.005 us, Write time : 469.060 us + 15.82sWARNros2_control_nodeOverrun might occur, Total time : 3575.153 us (Expected < 1666.667 us) --> Read time : 188.088 us, Update time : 2918.005 us, Write time : 469.060 us[0m ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.714313 ms (missed cycles : 5). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.714313 ms (missed cycles : 5).[0m ×2 + 16.52sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.05sWARNcontroller_managerOverrun might occur, Total time : 2558.529 us (Expected < 1666.667 us) --> Read time : 1944.923 us, Update time : 65.492 us, Write time : 548.114 us + 17.05sWARNros2_control_nodeOverrun might occur, Total time : 2558.529 us (Expected < 1666.667 us) --> Read time : 1944.923 us, Update time : 65.492 us, Write time : 548.114 us[0m ×2 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 5.6s | 72 warnings · 238 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781203516.46806026 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×6 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×12 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×12 + 0.62sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781203517.08362436 seconds. ×3 + 0.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 3496.379 us (Expected < 1666.667 us) --> Read time : 221.989 us, Update time : 2722.647 us (Switch time : 2673.654 us (Switch chained mode time : 0.450 us, perform mode change time : 5.710 us, Activation time : 2658.534 us, Deactivation time : 0.430 us)), Write time : 551.743 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 3496.379 us (Expected < 1666.667 us) --> Read time : 221.989 us, Update time : 2722.647 us (Switch time : 2673.654 us (Switch chained mode time : 0.450 us, perform mode change time : 5.710 us, Activation time : 2658.534 us, Deactivation time : 0.430 us)), Write time : 551.743 us[0m ×2 + 0.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781203517.16379905 seconds ×3 + 0.74sWARNcontroller_managerOverrun might occur, Total time : 3797.693 us (Expected < 1666.667 us) --> Read time : 314.384 us, Update time : 58.182 us, Write time : 3425.127 us + 0.74sWARNros2_control_nodeOverrun might occur, Total time : 3797.693 us (Expected < 1666.667 us) --> Read time : 314.384 us, Update time : 58.182 us, Write time : 3425.127 us[0m ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358097 ms (missed cycles : 6). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358097 ms (missed cycles : 6).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781203517.87294507 seconds. ×3 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.53sINFOros2_control_node[2026-06-11 18:45:17.997] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-06-11 18:45:17.997] [info] Accepted new action goal ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 8945.694 us (Expected < 1666.667 us) --> Read time : 363.126 us, Update time : 7996.113 us, Write time : 586.455 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 8945.694 us (Expected < 1666.667 us) --> Read time : 363.126 us, Update time : 7996.113 us, Write time : 586.455 us[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393797 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393797 ms (missed cycles : 2).[0m ×2 + 2.88sWARNcontroller_managerOverrun might occur, Total time : 2104.100 us (Expected < 1666.667 us) --> Read time : 265.141 us, Update time : 82.344 us, Write time : 1756.615 us + 2.88sWARNros2_control_nodeOverrun might occur, Total time : 2104.100 us (Expected < 1666.667 us) --> Read time : 265.141 us, Update time : 82.344 us, Write time : 1756.615 us[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.960744 ms (missed cycles : 7). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.960744 ms (missed cycles : 7).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781203520.00310898 seconds ×3 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 8834.718 us (Expected < 1666.667 us) --> Read time : 257.001 us, Update time : 292.283 us, Write time : 8285.434 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 8834.718 us (Expected < 1666.667 us) --> Read time : 257.001 us, Update time : 292.283 us, Write time : 8285.434 us[0m ×2 + 4.13sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1781203520.59678507 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783996 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783996 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.25sINFOros2_control_node[2026-06-11 18:45:20.720] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-11 18:45:20.720] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun might occur, Total time : 1811.028 us (Expected < 1666.667 us) --> Read time : 244.351 us, Update time : 966.601 us, Write time : 600.076 us + 5.07sWARNros2_control_nodeOverrun might occur, Total time : 1811.028 us (Expected < 1666.667 us) --> Read time : 244.351 us, Update time : 966.601 us, Write time : 600.076 us[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868637 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868637 ms (missed cycles : 2).[0m ×2 + 6.08sWARNcontroller_managerOverrun might occur, Total time : 1677.341 us (Expected < 1666.667 us) --> Read time : 319.903 us, Update time : 815.165 us, Write time : 542.273 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 1677.341 us (Expected < 1666.667 us) --> Read time : 319.903 us, Update time : 815.165 us, Write time : 542.273 us[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912803 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912803 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_server_node[0;93m2026-06-11 18:45:23.217648277 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.75sINFOobjective_server_node[0;93m2026-06-11 18:45:23.218998774 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.12sWARNcontroller_managerOverrun might occur, Total time : 2070.159 us (Expected < 1666.667 us) --> Read time : 365.635 us, Update time : 75.224 us, Write time : 1629.300 us + 7.12sWARNros2_control_nodeOverrun might occur, Total time : 2070.159 us (Expected < 1666.667 us) --> Read time : 365.635 us, Update time : 75.224 us, Write time : 1629.300 us[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981317 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981317 ms (missed cycles : 2).[0m ×2 + 7.31sINFOobjective_server_node[0;93m2026-06-11 18:45:23.778045752 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 7.32sINFOobjective_server_node[0;93m2026-06-11 18:45:23.779241524 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.47sINFOobjective_server_node[0;93m2026-06-11 18:45:23.927699676 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 7.47sINFOobjective_server_node[0;93m2026-06-11 18:45:23.930728905 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 7.47sINFOobjective_server_node[0;93m2026-06-11 18:45:23.930742616 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.79sINFOobjective_server_node[0;93m2026-06-11 18:45:24.260921566 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 7.81sINFOobjective_server_node[0;93m2026-06-11 18:45:24.276221551 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 7.81sINFOobjective_server_node[0;93m2026-06-11 18:45:24.276261302 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.20sWARNcontroller_managerOverrun might occur, Total time : 1740.274 us (Expected < 1666.667 us) --> Read time : 707.800 us, Update time : 210.159 us, Write time : 822.315 us + 8.20sWARNros2_control_nodeOverrun might occur, Total time : 1740.274 us (Expected < 1666.667 us) --> Read time : 707.800 us, Update time : 210.159 us, Write time : 822.315 us[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294103 ms (missed cycles : 4). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294103 ms (missed cycles : 4).[0m ×2 + 9.13sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781203525.59621239 seconds ×3 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.772503 ms (missed cycles : 8). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.772503 ms (missed cycles : 8).[0m ×2 + 9.44sWARNcontroller_managerOverrun might occur, Total time : 1689.692 us (Expected < 1666.667 us) --> Read time : 214.459 us, Update time : 66.173 us, Write time : 1409.060 us + 9.44sWARNros2_control_nodeOverrun might occur, Total time : 1689.692 us (Expected < 1666.667 us) --> Read time : 214.459 us, Update time : 66.173 us, Write time : 1409.060 us[0m ×2 + 9.77sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781203526.24078202 seconds. ×3 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134797 ms (missed cycles : 3). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134797 ms (missed cycles : 3).[0m ×2 + 10.36sINFOobjective_server_node[0;93m2026-06-11 18:45:26.830052423 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.36sINFOobjective_server_node[0;93m2026-06-11 18:45:26.830092055 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.59sWARNcontroller_managerOverrun might occur, Total time : 2116.741 us (Expected < 1666.667 us) --> Read time : 445.049 us, Update time : 594.986 us, Write time : 1076.706 us + 10.60sWARNros2_control_nodeOverrun might occur, Total time : 2116.741 us (Expected < 1666.667 us) --> Read time : 445.049 us, Update time : 594.986 us, Write time : 1076.706 us[0m ×2 + 10.91sINFOobjective_server_node[0;93m2026-06-11 18:45:27.375865164 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.91sINFOobjective_server_node[0;93m2026-06-11 18:45:27.375907466 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 11.03sINFOobjective_server_node[0;93m2026-06-11 18:45:27.500084588 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 11.04sINFOobjective_server_node[0;93m2026-06-11 18:45:27.502714891 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 11.04sINFOobjective_server_node[0;93m2026-06-11 18:45:27.502755962 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592183 ms (missed cycles : 3). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592183 ms (missed cycles : 3).[0m ×2 + 11.38sINFOobjective_server_node[0;93m2026-06-11 18:45:27.850186330 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 11.40sINFOobjective_server_node[0;93m2026-06-11 18:45:27.869078299 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 11.40sINFOobjective_server_node[0;93m2026-06-11 18:45:27.869122071 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 11.68sWARNcontroller_managerOverrun might occur, Total time : 1812.538 us (Expected < 1666.667 us) --> Read time : 312.084 us, Update time : 996.093 us, Write time : 504.361 us + 11.68sWARNros2_control_nodeOverrun might occur, Total time : 1812.538 us (Expected < 1666.667 us) --> Read time : 312.084 us, Update time : 996.093 us, Write time : 504.361 us[0m ×2 + 12.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781203528.72572136 seconds ×3 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766698 ms (missed cycles : 4). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766698 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 3.1s | 54 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1677.341 us (Expected < 1666.667 us) --> Read time : 319.903 us, Update time : 815.165 us, Write time : 542.273 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1677.341 us (Expected < 1666.667 us) --> Read time : 319.903 us, Update time : 815.165 us, Write time : 542.273 us[0m ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912803 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912803 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_node[0;93m2026-06-11 18:45:23.217648277 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.67sINFOobjective_server_node[0;93m2026-06-11 18:45:23.218998774 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 2070.159 us (Expected < 1666.667 us) --> Read time : 365.635 us, Update time : 75.224 us, Write time : 1629.300 us + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 2070.159 us (Expected < 1666.667 us) --> Read time : 365.635 us, Update time : 75.224 us, Write time : 1629.300 us[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981317 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981317 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_server_node[0;93m2026-06-11 18:45:23.778045752 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.24sINFOobjective_server_node[0;93m2026-06-11 18:45:23.779241524 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.39sINFOobjective_server_node[0;93m2026-06-11 18:45:23.927699676 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.39sINFOobjective_server_node[0;93m2026-06-11 18:45:23.930728905 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.39sINFOobjective_server_node[0;93m2026-06-11 18:45:23.930742616 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.71sINFOobjective_server_node[0;93m2026-06-11 18:45:24.260921566 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.73sINFOobjective_server_node[0;93m2026-06-11 18:45:24.276221551 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.73sINFOobjective_server_node[0;93m2026-06-11 18:45:24.276261302 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.12sWARNcontroller_managerOverrun might occur, Total time : 1740.274 us (Expected < 1666.667 us) --> Read time : 707.800 us, Update time : 210.159 us, Write time : 822.315 us + 2.12sWARNros2_control_nodeOverrun might occur, Total time : 1740.274 us (Expected < 1666.667 us) --> Read time : 707.800 us, Update time : 210.159 us, Write time : 822.315 us[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294103 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294103 ms (missed cycles : 4).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781203525.59621239 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.772503 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.772503 ms (missed cycles : 8).[0m ×2 + 3.36sWARNcontroller_managerOverrun might occur, Total time : 1689.692 us (Expected < 1666.667 us) --> Read time : 214.459 us, Update time : 66.173 us, Write time : 1409.060 us + 3.36sWARNros2_control_nodeOverrun might occur, Total time : 1689.692 us (Expected < 1666.667 us) --> Read time : 214.459 us, Update time : 66.173 us, Write time : 1409.060 us[0m ×2 + 3.69sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781203526.24078202 seconds. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134797 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134797 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_node[0;93m2026-06-11 18:45:26.830052423 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 4.28sINFOobjective_server_node[0;93m2026-06-11 18:45:26.830092055 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 2116.741 us (Expected < 1666.667 us) --> Read time : 445.049 us, Update time : 594.986 us, Write time : 1076.706 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 2116.741 us (Expected < 1666.667 us) --> Read time : 445.049 us, Update time : 594.986 us, Write time : 1076.706 us[0m ×2 + 4.83sINFOobjective_server_node[0;93m2026-06-11 18:45:27.375865164 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 4.83sINFOobjective_server_node[0;93m2026-06-11 18:45:27.375907466 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.95sINFOobjective_server_node[0;93m2026-06-11 18:45:27.500084588 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 4.96sINFOobjective_server_node[0;93m2026-06-11 18:45:27.502714891 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 4.96sINFOobjective_server_node[0;93m2026-06-11 18:45:27.502755962 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592183 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592183 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_node[0;93m2026-06-11 18:45:27.850186330 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 5.32sINFOobjective_server_node[0;93m2026-06-11 18:45:27.869078299 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.32sINFOobjective_server_node[0;93m2026-06-11 18:45:27.869122071 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.60sWARNcontroller_managerOverrun might occur, Total time : 1812.538 us (Expected < 1666.667 us) --> Read time : 312.084 us, Update time : 996.093 us, Write time : 504.361 us + 5.60sWARNros2_control_nodeOverrun might occur, Total time : 1812.538 us (Expected < 1666.667 us) --> Read time : 312.084 us, Update time : 996.093 us, Write time : 504.361 us[0m ×2 + 6.18sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781203528.72572136 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766698 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766698 ms (missed cycles : 4).[0m ×2 + 6.89sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781203529.44128442 seconds. ×3 + 6.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.98sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 6.99sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 7.28sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 7.28sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.30sINFOros2_control_node[2026-06-11 18:45:29.849] [info] Received new action goal ×2 + 7.30sINFOros2_control_node[2026-06-11 18:45:29.849] [info] Accepted new action goal ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699074 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699074 ms (missed cycles : 2).[0m ×2 + 7.70sWARNcontroller_managerOverrun might occur, Total time : 2139.272 us (Expected < 1666.667 us) --> Read time : 251.321 us, Update time : 88.354 us, Write time : 1799.597 us + 7.70sWARNros2_control_nodeOverrun might occur, Total time : 2139.272 us (Expected < 1666.667 us) --> Read time : 251.321 us, Update time : 88.354 us, Write time : 1799.597 us[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834771 ms (missed cycles : 5). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834771 ms (missed cycles : 5).[0m ×2 + 8.70sWARNcontroller_managerOverrun might occur, Total time : 2633.493 us (Expected < 1666.667 us) --> Read time : 258.721 us, Update time : 1627.760 us, Write time : 747.012 us + 8.70sWARNros2_control_nodeOverrun might occur, Total time : 2633.493 us (Expected < 1666.667 us) --> Read time : 258.721 us, Update time : 1627.760 us, Write time : 747.012 us[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368819 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368819 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 2.8s | 57 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5599.090 us (Expected < 1666.667 us) --> Read time : 307.543 us, Update time : 4742.423 us, Write time : 549.124 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5599.090 us (Expected < 1666.667 us) --> Read time : 307.543 us, Update time : 4742.423 us, Write time : 549.124 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003038 ms (missed cycles : 7). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003038 ms (missed cycles : 7).[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 2337.690 us (Expected < 1666.667 us) --> Read time : 270.061 us, Update time : 1625.060 us, Write time : 442.569 us + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 2337.690 us (Expected < 1666.667 us) --> Read time : 270.061 us, Update time : 1625.060 us, Write time : 442.569 us[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307477 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307477 ms (missed cycles : 4).[0m ×2 + 2.40sWARNcontroller_managerOverrun might occur, Total time : 2084.179 us (Expected < 1666.667 us) --> Read time : 211.049 us, Update time : 1415.090 us, Write time : 458.040 us + 2.40sWARNros2_control_nodeOverrun might occur, Total time : 2084.179 us (Expected < 1666.667 us) --> Read time : 211.049 us, Update time : 1415.090 us, Write time : 458.040 us[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415523 ms (missed cycles : 4). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415523 ms (missed cycles : 4).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781203516.46806026 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.32sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781203517.08362436 seconds. ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 3496.379 us (Expected < 1666.667 us) --> Read time : 221.989 us, Update time : 2722.647 us (Switch time : 2673.654 us (Switch chained mode time : 0.450 us, perform mode change time : 5.710 us, Activation time : 2658.534 us, Deactivation time : 0.430 us)), Write time : 551.743 us + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 3496.379 us (Expected < 1666.667 us) --> Read time : 221.989 us, Update time : 2722.647 us (Switch time : 2673.654 us (Switch chained mode time : 0.450 us, perform mode change time : 5.710 us, Activation time : 2658.534 us, Deactivation time : 0.430 us)), Write time : 551.743 us[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781203517.16379905 seconds ×3 + 3.44sWARNcontroller_managerOverrun might occur, Total time : 3797.693 us (Expected < 1666.667 us) --> Read time : 314.384 us, Update time : 58.182 us, Write time : 3425.127 us + 3.45sWARNros2_control_nodeOverrun might occur, Total time : 3797.693 us (Expected < 1666.667 us) --> Read time : 314.384 us, Update time : 58.182 us, Write time : 3425.127 us[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358097 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358097 ms (missed cycles : 6).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781203517.87294507 seconds. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-06-11 18:45:17.997] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-06-11 18:45:17.997] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 8945.694 us (Expected < 1666.667 us) --> Read time : 363.126 us, Update time : 7996.113 us, Write time : 586.455 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 8945.694 us (Expected < 1666.667 us) --> Read time : 363.126 us, Update time : 7996.113 us, Write time : 586.455 us[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393797 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393797 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun might occur, Total time : 2104.100 us (Expected < 1666.667 us) --> Read time : 265.141 us, Update time : 82.344 us, Write time : 1756.615 us + 5.58sWARNros2_control_nodeOverrun might occur, Total time : 2104.100 us (Expected < 1666.667 us) --> Read time : 265.141 us, Update time : 82.344 us, Write time : 1756.615 us[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.960744 ms (missed cycles : 7). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.960744 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781203520.00310898 seconds ×3 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 8834.718 us (Expected < 1666.667 us) --> Read time : 257.001 us, Update time : 292.283 us, Write time : 8285.434 us + 6.73sWARNros2_control_nodeOverrun might occur, Total time : 8834.718 us (Expected < 1666.667 us) --> Read time : 257.001 us, Update time : 292.283 us, Write time : 8285.434 us[0m ×2 + 6.83sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1781203520.59678507 seconds. ×3 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783996 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783996 ms (missed cycles : 2).[0m ×2 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 6.95sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 6.96sINFOros2_control_node[2026-06-11 18:45:20.720] [info] Received new action goal ×2 + 6.96sINFOros2_control_node[2026-06-11 18:45:20.720] [info] Accepted new action goal ×2 + 7.77sWARNcontroller_managerOverrun might occur, Total time : 1811.028 us (Expected < 1666.667 us) --> Read time : 244.351 us, Update time : 966.601 us, Write time : 600.076 us + 7.78sWARNros2_control_nodeOverrun might occur, Total time : 1811.028 us (Expected < 1666.667 us) --> Read time : 244.351 us, Update time : 966.601 us, Write time : 600.076 us[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868637 ms (missed cycles : 2). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868637 ms (missed cycles : 2).[0m ×2 + 8.78sWARNcontroller_managerOverrun might occur, Total time : 1677.341 us (Expected < 1666.667 us) --> Read time : 319.903 us, Update time : 815.165 us, Write time : 542.273 us + 8.79sWARNros2_control_nodeOverrun might occur, Total time : 1677.341 us (Expected < 1666.667 us) --> Read time : 319.903 us, Update time : 815.165 us, Write time : 542.273 us[0m ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912803 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912803 ms (missed cycles : 2).[0m ×2 + 9.46sINFOobjective_server_node[0;93m2026-06-11 18:45:23.217648277 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.46sINFOobjective_server_node[0;93m2026-06-11 18:45:23.218998774 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 67 warnings · 573 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.04sINFOobjective_server_node[2026-06-11 18:43:57.595] [moveit_pro_license] [info] ×2 + 0.04sINFOobjective_server_node************************************************* ×4 + 0.04sINFOobjective_server_node* MoveIt Pro License ×2 + 0.04sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.46sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.46sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.46sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.46sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.46sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.46sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.46sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.46sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.46sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.46sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.46sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.46sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.46sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682080 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682080 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 0.50sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.52sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.52sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.52sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.52sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.52sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.52sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.52sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.52sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.68sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.68sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.68sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.68sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.69sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.69sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.70sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.70sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.70sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.70sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.71sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.71sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.71sWARNcontroller_managerOverrun might occur, Total time : 4675.602 us (Expected < 1666.667 us) --> Read time : 198.939 us, Update time : 3955.141 us (Switch time : 3939.710 us (Switch chained mode time : 1.590 us, perform mode change time : 7.851 us, Activation time : 3919.939 us, Deactivation time : 1.200 us)), Write time : 521.522 us + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.71sWARNros2_control_nodeOverrun might occur, Total time : 4675.602 us (Expected < 1666.667 us) --> Read time : 198.939 us, Update time : 3955.141 us (Switch time : 3939.710 us (Switch chained mode time : 1.590 us, perform mode change time : 7.851 us, Activation time : 3919.939 us, Deactivation time : 1.200 us)), Write time : 521.522 us[0m ×2 + 0.72sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.80sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.80sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 1.04sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9133] ×2 + 1.09sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.09sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 1.12sWARNcontroller_managerOverrun might occur, Total time : 1872.001 us (Expected < 1666.667 us) --> Read time : 1376.180 us, Update time : 22.601 us, Write time : 473.220 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 1872.001 us (Expected < 1666.667 us) --> Read time : 1376.180 us, Update time : 22.601 us, Write time : 473.220 us[0m ×2 + 1.17sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.17sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.17sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.17sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.17sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 1.20sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 1.20sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 1.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 1.26sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.26sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.27sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 1.29sINFOros2_control_node[2026-06-11 18:43:58.843] [info] Controller state will be published at 20 Hz. ×2 + 1.29sINFOros2_control_node[2026-06-11 18:43:58.844] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.32sINFOmove_group ×4 + 1.32sINFOmove_group[92mYou can start planning now![0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122294 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122294 ms (missed cycles : 3).[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.60sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.60sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.60sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 1.60sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9142] ×2 + 1.65sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.65sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.65sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.66sINFOforce_torque_sensor_broadcasterconfigure successful + 1.66sINFOros2_control_nodeconfigure successful[0m ×2 + 1.66sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.67sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.67sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.88sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.95sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.95sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.95sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.95sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9132] ×2 + 2.03sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 2.03sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 2.07sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 2.07sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.07sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.10sINFOros2_control_node[2026-06-11 18:43:59.656] [info] Controller state will be published at 10 Hz. ×2 + 2.11sINFOros2_control_node[2026-06-11 18:43:59.657] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.41sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.41sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.41sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.41sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.42sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 2.42sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 2.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9139] ×2 + 2.47sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.50sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 2.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.50sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.50sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.50sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.50sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.50sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.50sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.50sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.51sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.51sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.51sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.52sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9135] ×2 + 2.83sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.09sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 3.09sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.09sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 3.09sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.10sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 3.10sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 3.11sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 3.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 3.12sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.12sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.12sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.12sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.12sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.12sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.12sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.12sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 3.12sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 3.12sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.13sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 3.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203440.74805307 seconds. ×3 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203440.75830841 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.45sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 3.45sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 3.45sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 3.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9134] ×2 + 3.54sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 3.54sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 3.59sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 3.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 3.59sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 3.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 3.59sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.59sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.62sINFOros2_control_node[2026-06-11 18:44:01.169] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 3.62sINFOros2_control_node[2026-06-11 18:44:01.169] [info] Controller state will be published at 50 Hz. ×2 + 3.62sINFOros2_control_node[2026-06-11 18:44:01.175] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 4.06sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 5.23sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 5.50sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 5.52sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 5.52sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 6.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 6.23sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 6.23sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 6.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 6.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 6.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 7.40sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 7.40sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 7.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 7.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.70sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 7.70sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 7.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 8.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 8.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.46sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 8.46sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 8.52sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 8.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.54sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 8.54sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.4s | 3 errors · 48 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1951.914 us (Expected < 1666.667 us) --> Read time : 409.168 us, Update time : 897.528 us, Write time : 645.218 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1951.914 us (Expected < 1666.667 us) --> Read time : 409.168 us, Update time : 897.528 us, Write time : 645.218 us[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810900 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810900 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun might occur, Total time : 1746.534 us (Expected < 1666.667 us) --> Read time : 392.446 us, Update time : 132.856 us, Write time : 1221.232 us + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506738 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 1746.534 us (Expected < 1666.667 us) --> Read time : 392.446 us, Update time : 132.856 us, Write time : 1221.232 us[0m ×2 + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506738 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.499722 ms (missed cycles : 6). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.499722 ms (missed cycles : 6).[0m ×2 + 2.49sWARNcontroller_managerOverrun might occur, Total time : 2871.354 us (Expected < 1666.667 us) --> Read time : 776.674 us, Update time : 680.449 us, Write time : 1414.231 us + 2.49sWARNros2_control_nodeOverrun might occur, Total time : 2871.354 us (Expected < 1666.667 us) --> Read time : 776.674 us, Update time : 680.449 us, Write time : 1414.231 us[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.772661 ms (missed cycles : 7). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.772661 ms (missed cycles : 7).[0m ×2 + 3.61sWARNcontroller_managerOverrun might occur, Total time : 5439.624 us (Expected < 1666.667 us) --> Read time : 211.149 us, Update time : 860.087 us, Write time : 4368.388 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 5439.624 us (Expected < 1666.667 us) --> Read time : 211.149 us, Update time : 860.087 us, Write time : 4368.388 us[0m ×2 + 3.66sINFOros2_control_node[2026-06-11 18:49:25.681] [info] Got request to cancel active goal. ×2 + 3.66sINFOros2_control_node[2026-06-11 18:49:25.681] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781203765.68696427 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781203766.27736068 seconds. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404711 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404711 ms (missed cycles : 3).[0m ×2 + 4.68sWARNcontroller_managerOverrun might occur, Total time : 1777.076 us (Expected < 1666.667 us) --> Read time : 224.699 us, Update time : 593.916 us, Write time : 958.461 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 1777.076 us (Expected < 1666.667 us) --> Read time : 224.699 us, Update time : 593.916 us, Write time : 958.461 us[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781203767.08749461 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866129 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866129 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781203767.68061733 seconds. ×3 + 5.66sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.66sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.66sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.66sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781203767.68240118 seconds ×3 + 5.85sWARNcontroller_managerOverrun might occur, Total time : 7481.311 us (Expected < 1666.667 us) --> Read time : 274.431 us, Update time : 6461.988 us, Write time : 744.892 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 7481.311 us (Expected < 1666.667 us) --> Read time : 274.431 us, Update time : 6461.988 us, Write time : 744.892 us[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781203768.26485419 seconds. ×3 + 6.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781203768.26550388 seconds ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724335 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724335 ms (missed cycles : 2).[0m ×2 + 6.87sWARNcontroller_managerOverrun might occur, Total time : 3207.228 us (Expected < 1666.667 us) --> Read time : 281.052 us, Update time : 983.622 us, Write time : 1942.554 us + 6.88sWARNros2_control_nodeOverrun might occur, Total time : 3207.228 us (Expected < 1666.667 us) --> Read time : 281.052 us, Update time : 983.622 us, Write time : 1942.554 us[0m ×2 + 6.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781203768.95283818 seconds. ×3 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.713477 ms (missed cycles : 6). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.713477 ms (missed cycles : 6).[0m ×2 + 7.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781203769.62299514 seconds ×3 + 7.64sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 42 warnings · 98 info |
+ 0.00sINFOros2_control_node[2026-06-11 18:44:27.595] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-11 18:44:27.595] [info] Accepted new action goal ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721967 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721967 ms (missed cycles : 3).[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2045.238 us (Expected < 1666.667 us) --> Read time : 242.660 us, Update time : 806.675 us, Write time : 995.903 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 2045.238 us (Expected < 1666.667 us) --> Read time : 242.660 us, Update time : 806.675 us, Write time : 995.903 us[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822467 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822467 ms (missed cycles : 4).[0m ×2 + 1.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sWARNcontroller_managerOverrun might occur, Total time : 3962.101 us (Expected < 1666.667 us) --> Read time : 3317.953 us, Update time : 72.293 us, Write time : 571.855 us + 1.49sWARNros2_control_nodeOverrun might occur, Total time : 3962.101 us (Expected < 1666.667 us) --> Read time : 3317.953 us, Update time : 72.293 us, Write time : 571.855 us[0m ×2 + 1.69sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.70sINFOros2_control_node[2026-06-11 18:44:29.293] [info] Received new action goal ×2 + 1.70sINFOros2_control_node[2026-06-11 18:44:29.293] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933279 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933279 ms (missed cycles : 3).[0m ×2 + 2.56sWARNcontroller_managerOverrun might occur, Total time : 9445.797 us (Expected < 1666.667 us) --> Read time : 220.950 us, Update time : 8587.040 us, Write time : 637.807 us + 2.56sWARNros2_control_nodeOverrun might occur, Total time : 9445.797 us (Expected < 1666.667 us) --> Read time : 220.950 us, Update time : 8587.040 us, Write time : 637.807 us[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781203470.56916690 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.103085 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.103085 ms (missed cycles : 7).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781203471.17452073 seconds. ×3 + 3.61sWARNcontroller_managerOverrun might occur, Total time : 1672.492 us (Expected < 1666.667 us) --> Read time : 242.090 us, Update time : 630.337 us, Write time : 800.065 us + 3.61sWARNros2_control_nodeOverrun might occur, Total time : 1672.492 us (Expected < 1666.667 us) --> Read time : 242.090 us, Update time : 630.337 us, Write time : 800.065 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781203471.27462053 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736210 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736210 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781203471.86785412 seconds. ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-06-11 18:44:32.002] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-06-11 18:44:32.002] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun might occur, Total time : 6208.186 us (Expected < 1666.667 us) --> Read time : 227.329 us, Update time : 5411.433 us, Write time : 569.424 us + 5.17sWARNros2_control_nodeOverrun might occur, Total time : 6208.186 us (Expected < 1666.667 us) --> Read time : 227.329 us, Update time : 5411.433 us, Write time : 569.424 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724223 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724223 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318414 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318414 ms (missed cycles : 3).[0m ×2 + 6.37sWARNcontroller_managerOverrun might occur, Total time : 3906.588 us (Expected < 1666.667 us) --> Read time : 372.786 us, Update time : 2826.422 us, Write time : 707.380 us + 6.37sWARNros2_control_nodeOverrun might occur, Total time : 3906.588 us (Expected < 1666.667 us) --> Read time : 372.786 us, Update time : 2826.422 us, Write time : 707.380 us[0m ×2 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.78sINFOros2_control_node[2026-06-11 18:44:34.372] [info] Received new action goal ×2 + 6.78sINFOros2_control_node[2026-06-11 18:44:34.372] [info] Accepted new action goal ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640416 ms (missed cycles : 3). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640416 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 48 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3893.647 us (Expected < 1666.667 us) --> Read time : 204.758 us, Update time : 3130.425 us, Write time : 558.464 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 3893.647 us (Expected < 1666.667 us) --> Read time : 204.758 us, Update time : 3130.425 us, Write time : 558.464 us[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235122 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235122 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun might occur, Total time : 1738.745 us (Expected < 1666.667 us) --> Read time : 291.692 us, Update time : 61.043 us, Write time : 1386.010 us + 1.11sWARNros2_control_nodeOverrun might occur, Total time : 1738.745 us (Expected < 1666.667 us) --> Read time : 291.692 us, Update time : 61.043 us, Write time : 1386.010 us[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484920 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484920 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun might occur, Total time : 7221.761 us (Expected < 1666.667 us) --> Read time : 357.255 us, Update time : 6301.612 us, Write time : 562.894 us + 2.12sWARNros2_control_nodeOverrun might occur, Total time : 7221.761 us (Expected < 1666.667 us) --> Read time : 357.255 us, Update time : 6301.612 us, Write time : 562.894 us[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.930563 ms (missed cycles : 10). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.930563 ms (missed cycles : 10).[0m ×2 + 2.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.80sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 2.81sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.82sINFOros2_control_node[2026-06-11 18:44:15.682] [info] Received new action goal ×2 + 2.82sINFOros2_control_node[2026-06-11 18:44:15.683] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun might occur, Total time : 2813.841 us (Expected < 1666.667 us) --> Read time : 341.675 us, Update time : 1951.034 us, Write time : 521.132 us + 3.27sWARNros2_control_nodeOverrun might occur, Total time : 2813.841 us (Expected < 1666.667 us) --> Read time : 341.675 us, Update time : 1951.034 us, Write time : 521.132 us[0m ×2 + 3.31sINFOros2_control_node[2026-06-11 18:44:16.178] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-06-11 18:44:16.178] [info] Canceling active goal... ×2 + 3.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781203456.19404316 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.935008 ms (missed cycles : 7). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.935008 ms (missed cycles : 7).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781203456.77797389 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781203456.90811849 seconds ×3 + 4.27sWARNcontroller_managerOverrun might occur, Total time : 1789.677 us (Expected < 1666.667 us) --> Read time : 272.121 us, Update time : 63.383 us, Write time : 1454.173 us + 4.27sWARNros2_control_nodeOverrun might occur, Total time : 1789.677 us (Expected < 1666.667 us) --> Read time : 272.121 us, Update time : 63.383 us, Write time : 1454.173 us[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955072 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955072 ms (missed cycles : 3).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781203457.57641411 seconds. ×3 + 4.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.92sINFOros2_control_node[2026-06-11 18:44:17.781] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-06-11 18:44:17.781] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun might occur, Total time : 6807.533 us (Expected < 1666.667 us) --> Read time : 323.894 us, Update time : 5948.146 us, Write time : 535.493 us + 5.37sWARNros2_control_nodeOverrun might occur, Total time : 6807.533 us (Expected < 1666.667 us) --> Read time : 323.894 us, Update time : 5948.146 us, Write time : 535.493 us[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287781 ms (missed cycles : 6). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287781 ms (missed cycles : 6).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769084 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769084 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun might occur, Total time : 2008.017 us (Expected < 1666.667 us) --> Read time : 329.824 us, Update time : 818.976 us, Write time : 859.217 us + 6.51sWARNros2_control_nodeOverrun might occur, Total time : 2008.017 us (Expected < 1666.667 us) --> Read time : 329.824 us, Update time : 818.976 us, Write time : 859.217 us[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956194 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956194 ms (missed cycles : 2).[0m ×2 + 7.59sWARNcontroller_managerOverrun might occur, Total time : 2035.498 us (Expected < 1666.667 us) --> Read time : 322.474 us, Update time : 728.131 us, Write time : 984.893 us + 7.59sWARNros2_control_nodeOverrun might occur, Total time : 2035.498 us (Expected < 1666.667 us) --> Read time : 322.474 us, Update time : 728.131 us, Write time : 984.893 us[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 45 warnings · 128 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715087 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715087 ms (missed cycles : 6).[0m ×2 + 0.50sWARNcontroller_managerOverrun might occur, Total time : 5599.090 us (Expected < 1666.667 us) --> Read time : 307.543 us, Update time : 4742.423 us, Write time : 549.124 us + 0.50sWARNros2_control_nodeOverrun might occur, Total time : 5599.090 us (Expected < 1666.667 us) --> Read time : 307.543 us, Update time : 4742.423 us, Write time : 549.124 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003038 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003038 ms (missed cycles : 7).[0m ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2337.690 us (Expected < 1666.667 us) --> Read time : 270.061 us, Update time : 1625.060 us, Write time : 442.569 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 2337.690 us (Expected < 1666.667 us) --> Read time : 270.061 us, Update time : 1625.060 us, Write time : 442.569 us[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307477 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307477 ms (missed cycles : 4).[0m ×2 + 2.90sWARNcontroller_managerOverrun might occur, Total time : 2084.179 us (Expected < 1666.667 us) --> Read time : 211.049 us, Update time : 1415.090 us, Write time : 458.040 us + 2.90sWARNros2_control_nodeOverrun might occur, Total time : 2084.179 us (Expected < 1666.667 us) --> Read time : 211.049 us, Update time : 1415.090 us, Write time : 458.040 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415523 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415523 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781203516.46806026 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.82sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781203517.08362436 seconds. ×3 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.88sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.88sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.90sWARNcontroller_managerOverrun might occur, Total time : 3496.379 us (Expected < 1666.667 us) --> Read time : 221.989 us, Update time : 2722.647 us (Switch time : 2673.654 us (Switch chained mode time : 0.450 us, perform mode change time : 5.710 us, Activation time : 2658.534 us, Deactivation time : 0.430 us)), Write time : 551.743 us + 3.90sWARNros2_control_nodeOverrun might occur, Total time : 3496.379 us (Expected < 1666.667 us) --> Read time : 221.989 us, Update time : 2722.647 us (Switch time : 2673.654 us (Switch chained mode time : 0.450 us, perform mode change time : 5.710 us, Activation time : 2658.534 us, Deactivation time : 0.430 us)), Write time : 551.743 us[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781203517.16379905 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 3797.693 us (Expected < 1666.667 us) --> Read time : 314.384 us, Update time : 58.182 us, Write time : 3425.127 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 3797.693 us (Expected < 1666.667 us) --> Read time : 314.384 us, Update time : 58.182 us, Write time : 3425.127 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358097 ms (missed cycles : 6). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358097 ms (missed cycles : 6).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781203517.87294507 seconds. ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.73sINFOros2_control_node[2026-06-11 18:45:17.997] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-06-11 18:45:17.997] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun might occur, Total time : 8945.694 us (Expected < 1666.667 us) --> Read time : 363.126 us, Update time : 7996.113 us, Write time : 586.455 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 8945.694 us (Expected < 1666.667 us) --> Read time : 363.126 us, Update time : 7996.113 us, Write time : 586.455 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393797 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393797 ms (missed cycles : 2).[0m ×2 + 6.08sWARNcontroller_managerOverrun might occur, Total time : 2104.100 us (Expected < 1666.667 us) --> Read time : 265.141 us, Update time : 82.344 us, Write time : 1756.615 us + 6.08sWARNros2_control_nodeOverrun might occur, Total time : 2104.100 us (Expected < 1666.667 us) --> Read time : 265.141 us, Update time : 82.344 us, Write time : 1756.615 us[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.960744 ms (missed cycles : 7). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.960744 ms (missed cycles : 7).[0m ×2 + 6.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781203520.00310898 seconds ×3 + 7.23sWARNcontroller_managerOverrun might occur, Total time : 8834.718 us (Expected < 1666.667 us) --> Read time : 257.001 us, Update time : 292.283 us, Write time : 8285.434 us + 7.23sWARNros2_control_nodeOverrun might occur, Total time : 8834.718 us (Expected < 1666.667 us) --> Read time : 257.001 us, Update time : 292.283 us, Write time : 8285.434 us[0m ×2 + 7.33sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1781203520.59678507 seconds. ×3 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 48 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.702611 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.702611 ms (missed cycles : 8).[0m ×2 + 0.87sWARNcontroller_managerOverrun might occur, Total time : 3975.719 us (Expected < 1666.667 us) --> Read time : 650.408 us, Update time : 2782.428 us, Write time : 542.883 us + 0.88sWARNros2_control_nodeOverrun might occur, Total time : 3975.719 us (Expected < 1666.667 us) --> Read time : 650.408 us, Update time : 2782.428 us, Write time : 542.883 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.398040 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.398040 ms (missed cycles : 6).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8).[0m ×2 + 2.10sWARNcontroller_managerOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4).[0m ×2 + 3.24sWARNcontroller_managerOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us + 3.25sWARNros2_control_nodeOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us[0m ×2 + 3.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781203753.18126750 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781203753.83794951 seconds. ×3 + 4.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.22sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.25sWARNcontroller_managerOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781203753.92811179 seconds ×3 + 4.28sWARNcontroller_managerOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781203754.50499654 seconds. ×3 + 4.85sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781203754.52726221 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us + 5.35sWARNros2_control_nodeOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781203755.13126111 seconds. ×3 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.57sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Received new action goal ×2 + 5.57sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Accepted new action goal ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368527 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368527 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun might occur, Total time : 2155.053 us (Expected < 1666.667 us) --> Read time : 405.308 us, Update time : 1103.247 us, Write time : 646.498 us + 7.38sWARNros2_control_nodeOverrun might occur, Total time : 2155.053 us (Expected < 1666.667 us) --> Read time : 405.308 us, Update time : 1103.247 us, Write time : 646.498 us[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 50 warnings · 434 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9142] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.07sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.29sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9132] ×2 + 0.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.48sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.51sINFOros2_control_node[2026-06-11 18:43:59.656] [info] Controller state will be published at 10 Hz. ×2 + 0.51sINFOros2_control_node[2026-06-11 18:43:59.657] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.82sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.82sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.82sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.82sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9139] ×2 + 0.87sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.90sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.90sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.90sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.90sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.90sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.91sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.91sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.91sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.91sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.91sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.91sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.92sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9135] ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.49sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.49sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 1.52sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.52sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.52sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.52sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.52sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.52sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.52sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.52sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.52sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.53sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.53sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.53sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203440.74805307 seconds. ×3 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203440.75830841 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.86sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.86sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.86sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.86sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9134] ×2 + 1.94sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 1.94sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 1.99sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 1.99sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.99sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.99sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.02sINFOros2_control_node[2026-06-11 18:44:01.169] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.02sINFOros2_control_node[2026-06-11 18:44:01.169] [info] Controller state will be published at 50 Hz. ×2 + 2.03sINFOros2_control_node[2026-06-11 18:44:01.175] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 2.47sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 2.47sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 3.63sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 3.63sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 3.92sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 4.63sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 4.64sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 5.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 6.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 6.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 6.10sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 6.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 6.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.86sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 6.86sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 6.92sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.94sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 45 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3975.719 us (Expected < 1666.667 us) --> Read time : 650.408 us, Update time : 2782.428 us, Write time : 542.883 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 3975.719 us (Expected < 1666.667 us) --> Read time : 650.408 us, Update time : 2782.428 us, Write time : 542.883 us[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.398040 ms (missed cycles : 6). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.398040 ms (missed cycles : 6).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8).[0m ×2 + 1.23sWARNcontroller_managerOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us + 1.24sWARNros2_control_nodeOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4).[0m ×2 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us[0m ×2 + 2.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781203753.18126750 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781203753.83794951 seconds. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.38sWARNcontroller_managerOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us + 3.38sWARNros2_control_nodeOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781203753.92811179 seconds ×3 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781203754.50499654 seconds. ×3 + 3.98sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781203754.52726221 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4).[0m ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us + 4.48sWARNros2_control_nodeOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781203755.13126111 seconds. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.70sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368527 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368527 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun might occur, Total time : 2155.053 us (Expected < 1666.667 us) --> Read time : 405.308 us, Update time : 1103.247 us, Write time : 646.498 us + 6.51sWARNros2_control_nodeOverrun might occur, Total time : 2155.053 us (Expected < 1666.667 us) --> Read time : 405.308 us, Update time : 1103.247 us, Write time : 646.498 us[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 42 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.499722 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.499722 ms (missed cycles : 6).[0m ×2 + 0.19sWARNcontroller_managerOverrun might occur, Total time : 2871.354 us (Expected < 1666.667 us) --> Read time : 776.674 us, Update time : 680.449 us, Write time : 1414.231 us + 0.19sWARNros2_control_nodeOverrun might occur, Total time : 2871.354 us (Expected < 1666.667 us) --> Read time : 776.674 us, Update time : 680.449 us, Write time : 1414.231 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.772661 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.772661 ms (missed cycles : 7).[0m ×2 + 1.32sWARNcontroller_managerOverrun might occur, Total time : 5439.624 us (Expected < 1666.667 us) --> Read time : 211.149 us, Update time : 860.087 us, Write time : 4368.388 us + 1.32sWARNros2_control_nodeOverrun might occur, Total time : 5439.624 us (Expected < 1666.667 us) --> Read time : 211.149 us, Update time : 860.087 us, Write time : 4368.388 us[0m ×2 + 1.37sINFOros2_control_node[2026-06-11 18:49:25.681] [info] Got request to cancel active goal. ×2 + 1.37sINFOros2_control_node[2026-06-11 18:49:25.681] [info] Canceling active goal... ×2 + 1.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781203765.68696427 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781203766.27736068 seconds. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404711 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404711 ms (missed cycles : 3).[0m ×2 + 2.39sWARNcontroller_managerOverrun might occur, Total time : 1777.076 us (Expected < 1666.667 us) --> Read time : 224.699 us, Update time : 593.916 us, Write time : 958.461 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 1777.076 us (Expected < 1666.667 us) --> Read time : 224.699 us, Update time : 593.916 us, Write time : 958.461 us[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781203767.08749461 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866129 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866129 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781203767.68061733 seconds. ×3 + 3.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.37sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781203767.68240118 seconds ×3 + 3.56sWARNcontroller_managerOverrun might occur, Total time : 7481.311 us (Expected < 1666.667 us) --> Read time : 274.431 us, Update time : 6461.988 us, Write time : 744.892 us + 3.56sWARNros2_control_nodeOverrun might occur, Total time : 7481.311 us (Expected < 1666.667 us) --> Read time : 274.431 us, Update time : 6461.988 us, Write time : 744.892 us[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781203768.26485419 seconds. ×3 + 3.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781203768.26550388 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724335 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724335 ms (missed cycles : 2).[0m ×2 + 4.58sWARNcontroller_managerOverrun might occur, Total time : 3207.228 us (Expected < 1666.667 us) --> Read time : 281.052 us, Update time : 983.622 us, Write time : 1942.554 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 3207.228 us (Expected < 1666.667 us) --> Read time : 281.052 us, Update time : 983.622 us, Write time : 1942.554 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781203768.95283818 seconds. ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.713477 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.713477 ms (missed cycles : 6).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781203769.62299514 seconds ×3 + 5.35sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.08sWARNcontroller_managerOverrun might occur, Total time : 2276.716 us (Expected < 1666.667 us) --> Read time : 242.730 us, Update time : 1524.835 us, Write time : 509.151 us + 6.08sWARNros2_control_nodeOverrun might occur, Total time : 2276.716 us (Expected < 1666.667 us) --> Read time : 242.730 us, Update time : 1524.835 us, Write time : 509.151 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578772 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578772 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 45 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.499722 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.499722 ms (missed cycles : 6).[0m ×2 + 0.19sWARNcontroller_managerOverrun might occur, Total time : 2871.354 us (Expected < 1666.667 us) --> Read time : 776.674 us, Update time : 680.449 us, Write time : 1414.231 us + 0.19sWARNros2_control_nodeOverrun might occur, Total time : 2871.354 us (Expected < 1666.667 us) --> Read time : 776.674 us, Update time : 680.449 us, Write time : 1414.231 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.772661 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.772661 ms (missed cycles : 7).[0m ×2 + 1.32sWARNcontroller_managerOverrun might occur, Total time : 5439.624 us (Expected < 1666.667 us) --> Read time : 211.149 us, Update time : 860.087 us, Write time : 4368.388 us + 1.32sWARNros2_control_nodeOverrun might occur, Total time : 5439.624 us (Expected < 1666.667 us) --> Read time : 211.149 us, Update time : 860.087 us, Write time : 4368.388 us[0m ×2 + 1.37sINFOros2_control_node[2026-06-11 18:49:25.681] [info] Got request to cancel active goal. ×2 + 1.37sINFOros2_control_node[2026-06-11 18:49:25.681] [info] Canceling active goal... ×2 + 1.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781203765.68696427 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781203766.27736068 seconds. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404711 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404711 ms (missed cycles : 3).[0m ×2 + 2.39sWARNcontroller_managerOverrun might occur, Total time : 1777.076 us (Expected < 1666.667 us) --> Read time : 224.699 us, Update time : 593.916 us, Write time : 958.461 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 1777.076 us (Expected < 1666.667 us) --> Read time : 224.699 us, Update time : 593.916 us, Write time : 958.461 us[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781203767.08749461 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866129 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866129 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781203767.68061733 seconds. ×3 + 3.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.37sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781203767.68240118 seconds ×3 + 3.56sWARNcontroller_managerOverrun might occur, Total time : 7481.311 us (Expected < 1666.667 us) --> Read time : 274.431 us, Update time : 6461.988 us, Write time : 744.892 us + 3.56sWARNros2_control_nodeOverrun might occur, Total time : 7481.311 us (Expected < 1666.667 us) --> Read time : 274.431 us, Update time : 6461.988 us, Write time : 744.892 us[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781203768.26485419 seconds. ×3 + 3.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781203768.26550388 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724335 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724335 ms (missed cycles : 2).[0m ×2 + 4.58sWARNcontroller_managerOverrun might occur, Total time : 3207.228 us (Expected < 1666.667 us) --> Read time : 281.052 us, Update time : 983.622 us, Write time : 1942.554 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 3207.228 us (Expected < 1666.667 us) --> Read time : 281.052 us, Update time : 983.622 us, Write time : 1942.554 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781203768.95283818 seconds. ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.713477 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.713477 ms (missed cycles : 6).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781203769.62299514 seconds ×3 + 5.35sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.08sWARNcontroller_managerOverrun might occur, Total time : 2276.716 us (Expected < 1666.667 us) --> Read time : 242.730 us, Update time : 1524.835 us, Write time : 509.151 us + 6.08sWARNros2_control_nodeOverrun might occur, Total time : 2276.716 us (Expected < 1666.667 us) --> Read time : 242.730 us, Update time : 1524.835 us, Write time : 509.151 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578772 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578772 ms (missed cycles : 3).[0m ×2 + 7.10sWARNcontroller_managerOverrun might occur, Total time : 3084.572 us (Expected < 1666.667 us) --> Read time : 368.906 us, Update time : 720.111 us, Write time : 1995.555 us + 7.10sWARNros2_control_nodeOverrun might occur, Total time : 3084.572 us (Expected < 1666.667 us) --> Read time : 368.906 us, Update time : 720.111 us, Write time : 1995.555 us[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 39 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5).[0m ×2 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.90sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us[0m ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 1.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 1.17sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 1.22sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 1.24sINFOobjective_server_nodeFound path in 5 iterations (0.0048806 s). ×2 + 1.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 1.29sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Received new action goal ×2 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Accepted new action goal ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us + 2.08sWARNros2_control_nodeOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us + 3.15sWARNros2_control_nodeOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us[0m ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Got request to cancel active goal. ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Canceling active goal... ×2 + 3.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781203720.58469510 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781203721.25386167 seconds. ×3 + 4.19sWARNcontroller_managerOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us + 4.19sWARNros2_control_nodeOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 42 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3893.647 us (Expected < 1666.667 us) --> Read time : 204.758 us, Update time : 3130.425 us, Write time : 558.464 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 3893.647 us (Expected < 1666.667 us) --> Read time : 204.758 us, Update time : 3130.425 us, Write time : 558.464 us[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235122 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235122 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun might occur, Total time : 1738.745 us (Expected < 1666.667 us) --> Read time : 291.692 us, Update time : 61.043 us, Write time : 1386.010 us + 1.11sWARNros2_control_nodeOverrun might occur, Total time : 1738.745 us (Expected < 1666.667 us) --> Read time : 291.692 us, Update time : 61.043 us, Write time : 1386.010 us[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484920 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484920 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun might occur, Total time : 7221.761 us (Expected < 1666.667 us) --> Read time : 357.255 us, Update time : 6301.612 us, Write time : 562.894 us + 2.12sWARNros2_control_nodeOverrun might occur, Total time : 7221.761 us (Expected < 1666.667 us) --> Read time : 357.255 us, Update time : 6301.612 us, Write time : 562.894 us[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.930563 ms (missed cycles : 10). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.930563 ms (missed cycles : 10).[0m ×2 + 2.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.80sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 2.81sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.82sINFOros2_control_node[2026-06-11 18:44:15.682] [info] Received new action goal ×2 + 2.82sINFOros2_control_node[2026-06-11 18:44:15.683] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun might occur, Total time : 2813.841 us (Expected < 1666.667 us) --> Read time : 341.675 us, Update time : 1951.034 us, Write time : 521.132 us + 3.27sWARNros2_control_nodeOverrun might occur, Total time : 2813.841 us (Expected < 1666.667 us) --> Read time : 341.675 us, Update time : 1951.034 us, Write time : 521.132 us[0m ×2 + 3.31sINFOros2_control_node[2026-06-11 18:44:16.178] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-06-11 18:44:16.178] [info] Canceling active goal... ×2 + 3.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781203456.19404316 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.935008 ms (missed cycles : 7). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.935008 ms (missed cycles : 7).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781203456.77797389 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781203456.90811849 seconds ×3 + 4.27sWARNcontroller_managerOverrun might occur, Total time : 1789.677 us (Expected < 1666.667 us) --> Read time : 272.121 us, Update time : 63.383 us, Write time : 1454.173 us + 4.27sWARNros2_control_nodeOverrun might occur, Total time : 1789.677 us (Expected < 1666.667 us) --> Read time : 272.121 us, Update time : 63.383 us, Write time : 1454.173 us[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955072 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955072 ms (missed cycles : 3).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781203457.57641411 seconds. ×3 + 4.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.92sINFOros2_control_node[2026-06-11 18:44:17.781] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-06-11 18:44:17.781] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun might occur, Total time : 6807.533 us (Expected < 1666.667 us) --> Read time : 323.894 us, Update time : 5948.146 us, Write time : 535.493 us + 5.37sWARNros2_control_nodeOverrun might occur, Total time : 6807.533 us (Expected < 1666.667 us) --> Read time : 323.894 us, Update time : 5948.146 us, Write time : 535.493 us[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287781 ms (missed cycles : 6). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287781 ms (missed cycles : 6).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769084 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769084 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun might occur, Total time : 2008.017 us (Expected < 1666.667 us) --> Read time : 329.824 us, Update time : 818.976 us, Write time : 859.217 us + 6.51sWARNros2_control_nodeOverrun might occur, Total time : 2008.017 us (Expected < 1666.667 us) --> Read time : 329.824 us, Update time : 818.976 us, Write time : 859.217 us[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 39 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us[0m ×2 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Accepted new action goal ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781203482.10095286 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2).[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us + 3.72sWARNros2_control_nodeOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781203482.84044862 seconds. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6).[0m ×2 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 36 warnings · 102 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781203525.59621239 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.772503 ms (missed cycles : 8). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.772503 ms (missed cycles : 8).[0m ×2 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 1689.692 us (Expected < 1666.667 us) --> Read time : 214.459 us, Update time : 66.173 us, Write time : 1409.060 us + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 1689.692 us (Expected < 1666.667 us) --> Read time : 214.459 us, Update time : 66.173 us, Write time : 1409.060 us[0m ×2 + 0.64sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781203526.24078202 seconds. ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134797 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134797 ms (missed cycles : 3).[0m ×2 + 1.23sINFOobjective_server_node[0;93m2026-06-11 18:45:26.830052423 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.23sINFOobjective_server_node[0;93m2026-06-11 18:45:26.830092055 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 2116.741 us (Expected < 1666.667 us) --> Read time : 445.049 us, Update time : 594.986 us, Write time : 1076.706 us + 1.47sWARNros2_control_nodeOverrun might occur, Total time : 2116.741 us (Expected < 1666.667 us) --> Read time : 445.049 us, Update time : 594.986 us, Write time : 1076.706 us[0m ×2 + 1.78sINFOobjective_server_node[0;93m2026-06-11 18:45:27.375865164 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.78sINFOobjective_server_node[0;93m2026-06-11 18:45:27.375907466 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.90sINFOobjective_server_node[0;93m2026-06-11 18:45:27.500084588 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.91sINFOobjective_server_node[0;93m2026-06-11 18:45:27.502714891 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.91sINFOobjective_server_node[0;93m2026-06-11 18:45:27.502755962 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592183 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592183 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_node[0;93m2026-06-11 18:45:27.850186330 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.27sINFOobjective_server_node[0;93m2026-06-11 18:45:27.869078299 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.27sINFOobjective_server_node[0;93m2026-06-11 18:45:27.869122071 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.55sWARNcontroller_managerOverrun might occur, Total time : 1812.538 us (Expected < 1666.667 us) --> Read time : 312.084 us, Update time : 996.093 us, Write time : 504.361 us + 2.55sWARNros2_control_nodeOverrun might occur, Total time : 1812.538 us (Expected < 1666.667 us) --> Read time : 312.084 us, Update time : 996.093 us, Write time : 504.361 us[0m ×2 + 3.13sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781203528.72572136 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766698 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766698 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781203529.44128442 seconds. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOros2_control_node[2026-06-11 18:45:29.849] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-11 18:45:29.849] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699074 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699074 ms (missed cycles : 2).[0m ×2 + 4.65sWARNcontroller_managerOverrun might occur, Total time : 2139.272 us (Expected < 1666.667 us) --> Read time : 251.321 us, Update time : 88.354 us, Write time : 1799.597 us + 4.65sWARNros2_control_nodeOverrun might occur, Total time : 2139.272 us (Expected < 1666.667 us) --> Read time : 251.321 us, Update time : 88.354 us, Write time : 1799.597 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834771 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834771 ms (missed cycles : 5).[0m ×2 + 5.66sWARNcontroller_managerOverrun might occur, Total time : 2633.493 us (Expected < 1666.667 us) --> Read time : 258.721 us, Update time : 1627.760 us, Write time : 747.012 us + 5.66sWARNros2_control_nodeOverrun might occur, Total time : 2633.493 us (Expected < 1666.667 us) --> Read time : 258.721 us, Update time : 1627.760 us, Write time : 747.012 us[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368819 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 36 warnings · 102 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781203525.59621239 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.772503 ms (missed cycles : 8). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.772503 ms (missed cycles : 8).[0m ×2 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 1689.692 us (Expected < 1666.667 us) --> Read time : 214.459 us, Update time : 66.173 us, Write time : 1409.060 us + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 1689.692 us (Expected < 1666.667 us) --> Read time : 214.459 us, Update time : 66.173 us, Write time : 1409.060 us[0m ×2 + 0.64sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781203526.24078202 seconds. ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134797 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134797 ms (missed cycles : 3).[0m ×2 + 1.23sINFOobjective_server_node[0;93m2026-06-11 18:45:26.830052423 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.23sINFOobjective_server_node[0;93m2026-06-11 18:45:26.830092055 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 2116.741 us (Expected < 1666.667 us) --> Read time : 445.049 us, Update time : 594.986 us, Write time : 1076.706 us + 1.47sWARNros2_control_nodeOverrun might occur, Total time : 2116.741 us (Expected < 1666.667 us) --> Read time : 445.049 us, Update time : 594.986 us, Write time : 1076.706 us[0m ×2 + 1.78sINFOobjective_server_node[0;93m2026-06-11 18:45:27.375865164 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.78sINFOobjective_server_node[0;93m2026-06-11 18:45:27.375907466 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.90sINFOobjective_server_node[0;93m2026-06-11 18:45:27.500084588 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.91sINFOobjective_server_node[0;93m2026-06-11 18:45:27.502714891 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.91sINFOobjective_server_node[0;93m2026-06-11 18:45:27.502755962 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592183 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592183 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_node[0;93m2026-06-11 18:45:27.850186330 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.27sINFOobjective_server_node[0;93m2026-06-11 18:45:27.869078299 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.27sINFOobjective_server_node[0;93m2026-06-11 18:45:27.869122071 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.55sWARNcontroller_managerOverrun might occur, Total time : 1812.538 us (Expected < 1666.667 us) --> Read time : 312.084 us, Update time : 996.093 us, Write time : 504.361 us + 2.55sWARNros2_control_nodeOverrun might occur, Total time : 1812.538 us (Expected < 1666.667 us) --> Read time : 312.084 us, Update time : 996.093 us, Write time : 504.361 us[0m ×2 + 3.13sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781203528.72572136 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766698 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766698 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781203529.44128442 seconds. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOros2_control_node[2026-06-11 18:45:29.849] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-11 18:45:29.849] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699074 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699074 ms (missed cycles : 2).[0m ×2 + 4.65sWARNcontroller_managerOverrun might occur, Total time : 2139.272 us (Expected < 1666.667 us) --> Read time : 251.321 us, Update time : 88.354 us, Write time : 1799.597 us + 4.65sWARNros2_control_nodeOverrun might occur, Total time : 2139.272 us (Expected < 1666.667 us) --> Read time : 251.321 us, Update time : 88.354 us, Write time : 1799.597 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834771 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834771 ms (missed cycles : 5).[0m ×2 + 5.66sWARNcontroller_managerOverrun might occur, Total time : 2633.493 us (Expected < 1666.667 us) --> Read time : 258.721 us, Update time : 1627.760 us, Write time : 747.012 us + 5.66sWARNros2_control_nodeOverrun might occur, Total time : 2633.493 us (Expected < 1666.667 us) --> Read time : 258.721 us, Update time : 1627.760 us, Write time : 747.012 us[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368819 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 39 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5).[0m ×2 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.90sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us[0m ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 1.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 1.17sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 1.22sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 1.24sINFOobjective_server_nodeFound path in 5 iterations (0.0048806 s). ×2 + 1.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 1.29sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Received new action goal ×2 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Accepted new action goal ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us + 2.08sWARNros2_control_nodeOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us + 3.15sWARNros2_control_nodeOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us[0m ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Got request to cancel active goal. ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Canceling active goal... ×2 + 3.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781203720.58469510 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781203721.25386167 seconds. ×3 + 4.19sWARNcontroller_managerOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us + 4.19sWARNros2_control_nodeOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 39 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5).[0m ×2 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.90sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us[0m ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 1.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 1.17sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 1.22sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 1.24sINFOobjective_server_nodeFound path in 5 iterations (0.0048806 s). ×2 + 1.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 1.29sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Received new action goal ×2 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Accepted new action goal ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us + 2.08sWARNros2_control_nodeOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us + 3.15sWARNros2_control_nodeOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us[0m ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Got request to cancel active goal. ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Canceling active goal... ×2 + 3.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781203720.58469510 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781203721.25386167 seconds. ×3 + 4.19sWARNcontroller_managerOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us + 4.19sWARNros2_control_nodeOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 39 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5).[0m ×2 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.90sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us[0m ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 1.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 1.17sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 1.22sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 1.24sINFOobjective_server_nodeFound path in 5 iterations (0.0048806 s). ×2 + 1.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 1.29sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Received new action goal ×2 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Accepted new action goal ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us + 2.08sWARNros2_control_nodeOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us + 3.15sWARNros2_control_nodeOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us[0m ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Got request to cancel active goal. ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Canceling active goal... ×2 + 3.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781203720.58469510 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781203721.25386167 seconds. ×3 + 4.19sWARNcontroller_managerOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us + 4.19sWARNros2_control_nodeOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 42 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.702611 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.702611 ms (missed cycles : 8).[0m ×2 + 0.87sWARNcontroller_managerOverrun might occur, Total time : 3975.719 us (Expected < 1666.667 us) --> Read time : 650.408 us, Update time : 2782.428 us, Write time : 542.883 us + 0.88sWARNros2_control_nodeOverrun might occur, Total time : 3975.719 us (Expected < 1666.667 us) --> Read time : 650.408 us, Update time : 2782.428 us, Write time : 542.883 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.398040 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.398040 ms (missed cycles : 6).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8).[0m ×2 + 2.10sWARNcontroller_managerOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4).[0m ×2 + 3.24sWARNcontroller_managerOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us + 3.25sWARNros2_control_nodeOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us[0m ×2 + 3.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781203753.18126750 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781203753.83794951 seconds. ×3 + 4.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.22sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.25sWARNcontroller_managerOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781203753.92811179 seconds ×3 + 4.28sWARNcontroller_managerOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781203754.50499654 seconds. ×3 + 4.85sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781203754.52726221 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us + 5.35sWARNros2_control_nodeOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781203755.13126111 seconds. ×3 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.57sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Received new action goal ×2 + 5.57sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Accepted new action goal ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 42 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.702611 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.702611 ms (missed cycles : 8).[0m ×2 + 0.87sWARNcontroller_managerOverrun might occur, Total time : 3975.719 us (Expected < 1666.667 us) --> Read time : 650.408 us, Update time : 2782.428 us, Write time : 542.883 us + 0.88sWARNros2_control_nodeOverrun might occur, Total time : 3975.719 us (Expected < 1666.667 us) --> Read time : 650.408 us, Update time : 2782.428 us, Write time : 542.883 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.398040 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.398040 ms (missed cycles : 6).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8).[0m ×2 + 2.10sWARNcontroller_managerOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4).[0m ×2 + 3.24sWARNcontroller_managerOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us + 3.25sWARNros2_control_nodeOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us[0m ×2 + 3.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781203753.18126750 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781203753.83794951 seconds. ×3 + 4.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.22sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.25sWARNcontroller_managerOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781203753.92811179 seconds ×3 + 4.28sWARNcontroller_managerOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781203754.50499654 seconds. ×3 + 4.85sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781203754.52726221 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us + 5.35sWARNros2_control_nodeOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781203755.13126111 seconds. ×3 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.57sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Received new action goal ×2 + 5.57sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Accepted new action goal ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 42 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3893.647 us (Expected < 1666.667 us) --> Read time : 204.758 us, Update time : 3130.425 us, Write time : 558.464 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 3893.647 us (Expected < 1666.667 us) --> Read time : 204.758 us, Update time : 3130.425 us, Write time : 558.464 us[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235122 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235122 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun might occur, Total time : 1738.745 us (Expected < 1666.667 us) --> Read time : 291.692 us, Update time : 61.043 us, Write time : 1386.010 us + 1.11sWARNros2_control_nodeOverrun might occur, Total time : 1738.745 us (Expected < 1666.667 us) --> Read time : 291.692 us, Update time : 61.043 us, Write time : 1386.010 us[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484920 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484920 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun might occur, Total time : 7221.761 us (Expected < 1666.667 us) --> Read time : 357.255 us, Update time : 6301.612 us, Write time : 562.894 us + 2.12sWARNros2_control_nodeOverrun might occur, Total time : 7221.761 us (Expected < 1666.667 us) --> Read time : 357.255 us, Update time : 6301.612 us, Write time : 562.894 us[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.930563 ms (missed cycles : 10). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.930563 ms (missed cycles : 10).[0m ×2 + 2.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.80sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 2.81sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.82sINFOros2_control_node[2026-06-11 18:44:15.682] [info] Received new action goal ×2 + 2.82sINFOros2_control_node[2026-06-11 18:44:15.683] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun might occur, Total time : 2813.841 us (Expected < 1666.667 us) --> Read time : 341.675 us, Update time : 1951.034 us, Write time : 521.132 us + 3.27sWARNros2_control_nodeOverrun might occur, Total time : 2813.841 us (Expected < 1666.667 us) --> Read time : 341.675 us, Update time : 1951.034 us, Write time : 521.132 us[0m ×2 + 3.31sINFOros2_control_node[2026-06-11 18:44:16.178] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-06-11 18:44:16.178] [info] Canceling active goal... ×2 + 3.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781203456.19404316 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.935008 ms (missed cycles : 7). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.935008 ms (missed cycles : 7).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781203456.77797389 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781203456.90811849 seconds ×3 + 4.27sWARNcontroller_managerOverrun might occur, Total time : 1789.677 us (Expected < 1666.667 us) --> Read time : 272.121 us, Update time : 63.383 us, Write time : 1454.173 us + 4.27sWARNros2_control_nodeOverrun might occur, Total time : 1789.677 us (Expected < 1666.667 us) --> Read time : 272.121 us, Update time : 63.383 us, Write time : 1454.173 us[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955072 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955072 ms (missed cycles : 3).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781203457.57641411 seconds. ×3 + 4.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.92sINFOros2_control_node[2026-06-11 18:44:17.781] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-06-11 18:44:17.781] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun might occur, Total time : 6807.533 us (Expected < 1666.667 us) --> Read time : 323.894 us, Update time : 5948.146 us, Write time : 535.493 us + 5.37sWARNros2_control_nodeOverrun might occur, Total time : 6807.533 us (Expected < 1666.667 us) --> Read time : 323.894 us, Update time : 5948.146 us, Write time : 535.493 us[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287781 ms (missed cycles : 6). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287781 ms (missed cycles : 6).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769084 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769084 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun might occur, Total time : 2008.017 us (Expected < 1666.667 us) --> Read time : 329.824 us, Update time : 818.976 us, Write time : 859.217 us + 6.51sWARNros2_control_nodeOverrun might occur, Total time : 2008.017 us (Expected < 1666.667 us) --> Read time : 329.824 us, Update time : 818.976 us, Write time : 859.217 us[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 42 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1738.745 us (Expected < 1666.667 us) --> Read time : 291.692 us, Update time : 61.043 us, Write time : 1386.010 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1738.745 us (Expected < 1666.667 us) --> Read time : 291.692 us, Update time : 61.043 us, Write time : 1386.010 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484920 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484920 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 7221.761 us (Expected < 1666.667 us) --> Read time : 357.255 us, Update time : 6301.612 us, Write time : 562.894 us + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 7221.761 us (Expected < 1666.667 us) --> Read time : 357.255 us, Update time : 6301.612 us, Write time : 562.894 us[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.930563 ms (missed cycles : 10). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.930563 ms (missed cycles : 10).[0m ×2 + 1.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 1.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.71sINFOros2_control_node[2026-06-11 18:44:15.682] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-06-11 18:44:15.683] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2813.841 us (Expected < 1666.667 us) --> Read time : 341.675 us, Update time : 1951.034 us, Write time : 521.132 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2813.841 us (Expected < 1666.667 us) --> Read time : 341.675 us, Update time : 1951.034 us, Write time : 521.132 us[0m ×2 + 2.21sINFOros2_control_node[2026-06-11 18:44:16.178] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-06-11 18:44:16.178] [info] Canceling active goal... ×2 + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781203456.19404316 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.935008 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.935008 ms (missed cycles : 7).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781203456.77797389 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781203456.90811849 seconds ×3 + 3.16sWARNcontroller_managerOverrun might occur, Total time : 1789.677 us (Expected < 1666.667 us) --> Read time : 272.121 us, Update time : 63.383 us, Write time : 1454.173 us + 3.16sWARNros2_control_nodeOverrun might occur, Total time : 1789.677 us (Expected < 1666.667 us) --> Read time : 272.121 us, Update time : 63.383 us, Write time : 1454.173 us[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955072 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955072 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781203457.57641411 seconds. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.81sINFOros2_control_node[2026-06-11 18:44:17.781] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-06-11 18:44:17.781] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun might occur, Total time : 6807.533 us (Expected < 1666.667 us) --> Read time : 323.894 us, Update time : 5948.146 us, Write time : 535.493 us + 4.26sWARNros2_control_nodeOverrun might occur, Total time : 6807.533 us (Expected < 1666.667 us) --> Read time : 323.894 us, Update time : 5948.146 us, Write time : 535.493 us[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287781 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287781 ms (missed cycles : 6).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769084 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769084 ms (missed cycles : 5).[0m ×2 + 5.40sWARNcontroller_managerOverrun might occur, Total time : 2008.017 us (Expected < 1666.667 us) --> Read time : 329.824 us, Update time : 818.976 us, Write time : 859.217 us + 5.41sWARNros2_control_nodeOverrun might occur, Total time : 2008.017 us (Expected < 1666.667 us) --> Read time : 329.824 us, Update time : 818.976 us, Write time : 859.217 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956194 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956194 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun might occur, Total time : 2035.498 us (Expected < 1666.667 us) --> Read time : 322.474 us, Update time : 728.131 us, Write time : 984.893 us + 6.48sWARNros2_control_nodeOverrun might occur, Total time : 2035.498 us (Expected < 1666.667 us) --> Read time : 322.474 us, Update time : 728.131 us, Write time : 984.893 us[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 42 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1738.745 us (Expected < 1666.667 us) --> Read time : 291.692 us, Update time : 61.043 us, Write time : 1386.010 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1738.745 us (Expected < 1666.667 us) --> Read time : 291.692 us, Update time : 61.043 us, Write time : 1386.010 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484920 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484920 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 7221.761 us (Expected < 1666.667 us) --> Read time : 357.255 us, Update time : 6301.612 us, Write time : 562.894 us + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 7221.761 us (Expected < 1666.667 us) --> Read time : 357.255 us, Update time : 6301.612 us, Write time : 562.894 us[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.930563 ms (missed cycles : 10). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.930563 ms (missed cycles : 10).[0m ×2 + 1.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 1.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.71sINFOros2_control_node[2026-06-11 18:44:15.682] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-06-11 18:44:15.683] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2813.841 us (Expected < 1666.667 us) --> Read time : 341.675 us, Update time : 1951.034 us, Write time : 521.132 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2813.841 us (Expected < 1666.667 us) --> Read time : 341.675 us, Update time : 1951.034 us, Write time : 521.132 us[0m ×2 + 2.21sINFOros2_control_node[2026-06-11 18:44:16.178] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-06-11 18:44:16.178] [info] Canceling active goal... ×2 + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781203456.19404316 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.935008 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.935008 ms (missed cycles : 7).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781203456.77797389 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781203456.90811849 seconds ×3 + 3.16sWARNcontroller_managerOverrun might occur, Total time : 1789.677 us (Expected < 1666.667 us) --> Read time : 272.121 us, Update time : 63.383 us, Write time : 1454.173 us + 3.16sWARNros2_control_nodeOverrun might occur, Total time : 1789.677 us (Expected < 1666.667 us) --> Read time : 272.121 us, Update time : 63.383 us, Write time : 1454.173 us[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955072 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955072 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781203457.57641411 seconds. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.81sINFOros2_control_node[2026-06-11 18:44:17.781] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-06-11 18:44:17.781] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun might occur, Total time : 6807.533 us (Expected < 1666.667 us) --> Read time : 323.894 us, Update time : 5948.146 us, Write time : 535.493 us + 4.26sWARNros2_control_nodeOverrun might occur, Total time : 6807.533 us (Expected < 1666.667 us) --> Read time : 323.894 us, Update time : 5948.146 us, Write time : 535.493 us[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287781 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287781 ms (missed cycles : 6).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769084 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769084 ms (missed cycles : 5).[0m ×2 + 5.40sWARNcontroller_managerOverrun might occur, Total time : 2008.017 us (Expected < 1666.667 us) --> Read time : 329.824 us, Update time : 818.976 us, Write time : 859.217 us + 5.41sWARNros2_control_nodeOverrun might occur, Total time : 2008.017 us (Expected < 1666.667 us) --> Read time : 329.824 us, Update time : 818.976 us, Write time : 859.217 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956194 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956194 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun might occur, Total time : 2035.498 us (Expected < 1666.667 us) --> Read time : 322.474 us, Update time : 728.131 us, Write time : 984.893 us + 6.48sWARNros2_control_nodeOverrun might occur, Total time : 2035.498 us (Expected < 1666.667 us) --> Read time : 322.474 us, Update time : 728.131 us, Write time : 984.893 us[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 42 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1738.745 us (Expected < 1666.667 us) --> Read time : 291.692 us, Update time : 61.043 us, Write time : 1386.010 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1738.745 us (Expected < 1666.667 us) --> Read time : 291.692 us, Update time : 61.043 us, Write time : 1386.010 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484920 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484920 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 7221.761 us (Expected < 1666.667 us) --> Read time : 357.255 us, Update time : 6301.612 us, Write time : 562.894 us + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 7221.761 us (Expected < 1666.667 us) --> Read time : 357.255 us, Update time : 6301.612 us, Write time : 562.894 us[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.930563 ms (missed cycles : 10). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.930563 ms (missed cycles : 10).[0m ×2 + 1.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 1.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.71sINFOros2_control_node[2026-06-11 18:44:15.682] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-06-11 18:44:15.683] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2813.841 us (Expected < 1666.667 us) --> Read time : 341.675 us, Update time : 1951.034 us, Write time : 521.132 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2813.841 us (Expected < 1666.667 us) --> Read time : 341.675 us, Update time : 1951.034 us, Write time : 521.132 us[0m ×2 + 2.21sINFOros2_control_node[2026-06-11 18:44:16.178] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-06-11 18:44:16.178] [info] Canceling active goal... ×2 + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781203456.19404316 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.935008 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.935008 ms (missed cycles : 7).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781203456.77797389 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781203456.90811849 seconds ×3 + 3.16sWARNcontroller_managerOverrun might occur, Total time : 1789.677 us (Expected < 1666.667 us) --> Read time : 272.121 us, Update time : 63.383 us, Write time : 1454.173 us + 3.16sWARNros2_control_nodeOverrun might occur, Total time : 1789.677 us (Expected < 1666.667 us) --> Read time : 272.121 us, Update time : 63.383 us, Write time : 1454.173 us[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955072 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955072 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781203457.57641411 seconds. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.81sINFOros2_control_node[2026-06-11 18:44:17.781] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-06-11 18:44:17.781] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun might occur, Total time : 6807.533 us (Expected < 1666.667 us) --> Read time : 323.894 us, Update time : 5948.146 us, Write time : 535.493 us + 4.26sWARNros2_control_nodeOverrun might occur, Total time : 6807.533 us (Expected < 1666.667 us) --> Read time : 323.894 us, Update time : 5948.146 us, Write time : 535.493 us[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287781 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287781 ms (missed cycles : 6).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769084 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769084 ms (missed cycles : 5).[0m ×2 + 5.40sWARNcontroller_managerOverrun might occur, Total time : 2008.017 us (Expected < 1666.667 us) --> Read time : 329.824 us, Update time : 818.976 us, Write time : 859.217 us + 5.41sWARNros2_control_nodeOverrun might occur, Total time : 2008.017 us (Expected < 1666.667 us) --> Read time : 329.824 us, Update time : 818.976 us, Write time : 859.217 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956194 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956194 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun might occur, Total time : 2035.498 us (Expected < 1666.667 us) --> Read time : 322.474 us, Update time : 728.131 us, Write time : 984.893 us + 6.48sWARNros2_control_nodeOverrun might occur, Total time : 2035.498 us (Expected < 1666.667 us) --> Read time : 322.474 us, Update time : 728.131 us, Write time : 984.893 us[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 42 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1738.745 us (Expected < 1666.667 us) --> Read time : 291.692 us, Update time : 61.043 us, Write time : 1386.010 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1738.745 us (Expected < 1666.667 us) --> Read time : 291.692 us, Update time : 61.043 us, Write time : 1386.010 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484920 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484920 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 7221.761 us (Expected < 1666.667 us) --> Read time : 357.255 us, Update time : 6301.612 us, Write time : 562.894 us + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 7221.761 us (Expected < 1666.667 us) --> Read time : 357.255 us, Update time : 6301.612 us, Write time : 562.894 us[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.930563 ms (missed cycles : 10). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.930563 ms (missed cycles : 10).[0m ×2 + 1.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 1.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.71sINFOros2_control_node[2026-06-11 18:44:15.682] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-06-11 18:44:15.683] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2813.841 us (Expected < 1666.667 us) --> Read time : 341.675 us, Update time : 1951.034 us, Write time : 521.132 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2813.841 us (Expected < 1666.667 us) --> Read time : 341.675 us, Update time : 1951.034 us, Write time : 521.132 us[0m ×2 + 2.21sINFOros2_control_node[2026-06-11 18:44:16.178] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-06-11 18:44:16.178] [info] Canceling active goal... ×2 + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781203456.19404316 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.935008 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.935008 ms (missed cycles : 7).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781203456.77797389 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781203456.90811849 seconds ×3 + 3.16sWARNcontroller_managerOverrun might occur, Total time : 1789.677 us (Expected < 1666.667 us) --> Read time : 272.121 us, Update time : 63.383 us, Write time : 1454.173 us + 3.16sWARNros2_control_nodeOverrun might occur, Total time : 1789.677 us (Expected < 1666.667 us) --> Read time : 272.121 us, Update time : 63.383 us, Write time : 1454.173 us[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955072 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955072 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781203457.57641411 seconds. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.81sINFOros2_control_node[2026-06-11 18:44:17.781] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-06-11 18:44:17.781] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun might occur, Total time : 6807.533 us (Expected < 1666.667 us) --> Read time : 323.894 us, Update time : 5948.146 us, Write time : 535.493 us + 4.26sWARNros2_control_nodeOverrun might occur, Total time : 6807.533 us (Expected < 1666.667 us) --> Read time : 323.894 us, Update time : 5948.146 us, Write time : 535.493 us[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287781 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287781 ms (missed cycles : 6).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769084 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769084 ms (missed cycles : 5).[0m ×2 + 5.40sWARNcontroller_managerOverrun might occur, Total time : 2008.017 us (Expected < 1666.667 us) --> Read time : 329.824 us, Update time : 818.976 us, Write time : 859.217 us + 5.41sWARNros2_control_nodeOverrun might occur, Total time : 2008.017 us (Expected < 1666.667 us) --> Read time : 329.824 us, Update time : 818.976 us, Write time : 859.217 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956194 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956194 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun might occur, Total time : 2035.498 us (Expected < 1666.667 us) --> Read time : 322.474 us, Update time : 728.131 us, Write time : 984.893 us + 6.48sWARNros2_control_nodeOverrun might occur, Total time : 2035.498 us (Expected < 1666.667 us) --> Read time : 322.474 us, Update time : 728.131 us, Write time : 984.893 us[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 39 warnings · 94 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2045.238 us (Expected < 1666.667 us) --> Read time : 242.660 us, Update time : 806.675 us, Write time : 995.903 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2045.238 us (Expected < 1666.667 us) --> Read time : 242.660 us, Update time : 806.675 us, Write time : 995.903 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822467 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822467 ms (missed cycles : 4).[0m ×2 + 0.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 3962.101 us (Expected < 1666.667 us) --> Read time : 3317.953 us, Update time : 72.293 us, Write time : 571.855 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 3962.101 us (Expected < 1666.667 us) --> Read time : 3317.953 us, Update time : 72.293 us, Write time : 571.855 us[0m ×2 + 1.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.34sINFOros2_control_node[2026-06-11 18:44:29.293] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-06-11 18:44:29.293] [info] Accepted new action goal ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933279 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933279 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 9445.797 us (Expected < 1666.667 us) --> Read time : 220.950 us, Update time : 8587.040 us, Write time : 637.807 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 9445.797 us (Expected < 1666.667 us) --> Read time : 220.950 us, Update time : 8587.040 us, Write time : 637.807 us[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781203470.56916690 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.103085 ms (missed cycles : 7). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.103085 ms (missed cycles : 7).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781203471.17452073 seconds. ×3 + 3.25sWARNcontroller_managerOverrun might occur, Total time : 1672.492 us (Expected < 1666.667 us) --> Read time : 242.090 us, Update time : 630.337 us, Write time : 800.065 us + 3.25sWARNros2_control_nodeOverrun might occur, Total time : 1672.492 us (Expected < 1666.667 us) --> Read time : 242.090 us, Update time : 630.337 us, Write time : 800.065 us[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781203471.27462053 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736210 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736210 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781203471.86785412 seconds. ×3 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-06-11 18:44:32.002] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-11 18:44:32.002] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun might occur, Total time : 6208.186 us (Expected < 1666.667 us) --> Read time : 227.329 us, Update time : 5411.433 us, Write time : 569.424 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 6208.186 us (Expected < 1666.667 us) --> Read time : 227.329 us, Update time : 5411.433 us, Write time : 569.424 us[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724223 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724223 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318414 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318414 ms (missed cycles : 3).[0m ×2 + 6.01sWARNcontroller_managerOverrun might occur, Total time : 3906.588 us (Expected < 1666.667 us) --> Read time : 372.786 us, Update time : 2826.422 us, Write time : 707.380 us + 6.01sWARNros2_control_nodeOverrun might occur, Total time : 3906.588 us (Expected < 1666.667 us) --> Read time : 372.786 us, Update time : 2826.422 us, Write time : 707.380 us[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.42sINFOros2_control_node[2026-06-11 18:44:34.372] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-06-11 18:44:34.372] [info] Accepted new action goal ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640416 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640416 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 39 warnings · 94 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2045.238 us (Expected < 1666.667 us) --> Read time : 242.660 us, Update time : 806.675 us, Write time : 995.903 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2045.238 us (Expected < 1666.667 us) --> Read time : 242.660 us, Update time : 806.675 us, Write time : 995.903 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822467 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822467 ms (missed cycles : 4).[0m ×2 + 0.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 3962.101 us (Expected < 1666.667 us) --> Read time : 3317.953 us, Update time : 72.293 us, Write time : 571.855 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 3962.101 us (Expected < 1666.667 us) --> Read time : 3317.953 us, Update time : 72.293 us, Write time : 571.855 us[0m ×2 + 1.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.34sINFOros2_control_node[2026-06-11 18:44:29.293] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-06-11 18:44:29.293] [info] Accepted new action goal ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933279 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933279 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 9445.797 us (Expected < 1666.667 us) --> Read time : 220.950 us, Update time : 8587.040 us, Write time : 637.807 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 9445.797 us (Expected < 1666.667 us) --> Read time : 220.950 us, Update time : 8587.040 us, Write time : 637.807 us[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781203470.56916690 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.103085 ms (missed cycles : 7). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.103085 ms (missed cycles : 7).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781203471.17452073 seconds. ×3 + 3.25sWARNcontroller_managerOverrun might occur, Total time : 1672.492 us (Expected < 1666.667 us) --> Read time : 242.090 us, Update time : 630.337 us, Write time : 800.065 us + 3.25sWARNros2_control_nodeOverrun might occur, Total time : 1672.492 us (Expected < 1666.667 us) --> Read time : 242.090 us, Update time : 630.337 us, Write time : 800.065 us[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781203471.27462053 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736210 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736210 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781203471.86785412 seconds. ×3 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-06-11 18:44:32.002] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-11 18:44:32.002] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun might occur, Total time : 6208.186 us (Expected < 1666.667 us) --> Read time : 227.329 us, Update time : 5411.433 us, Write time : 569.424 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 6208.186 us (Expected < 1666.667 us) --> Read time : 227.329 us, Update time : 5411.433 us, Write time : 569.424 us[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724223 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724223 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318414 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318414 ms (missed cycles : 3).[0m ×2 + 6.01sWARNcontroller_managerOverrun might occur, Total time : 3906.588 us (Expected < 1666.667 us) --> Read time : 372.786 us, Update time : 2826.422 us, Write time : 707.380 us + 6.01sWARNros2_control_nodeOverrun might occur, Total time : 3906.588 us (Expected < 1666.667 us) --> Read time : 372.786 us, Update time : 2826.422 us, Write time : 707.380 us[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.42sINFOros2_control_node[2026-06-11 18:44:34.372] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-06-11 18:44:34.372] [info] Accepted new action goal ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640416 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640416 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 39 warnings · 94 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2045.238 us (Expected < 1666.667 us) --> Read time : 242.660 us, Update time : 806.675 us, Write time : 995.903 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2045.238 us (Expected < 1666.667 us) --> Read time : 242.660 us, Update time : 806.675 us, Write time : 995.903 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822467 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822467 ms (missed cycles : 4).[0m ×2 + 0.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 3962.101 us (Expected < 1666.667 us) --> Read time : 3317.953 us, Update time : 72.293 us, Write time : 571.855 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 3962.101 us (Expected < 1666.667 us) --> Read time : 3317.953 us, Update time : 72.293 us, Write time : 571.855 us[0m ×2 + 1.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.34sINFOros2_control_node[2026-06-11 18:44:29.293] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-06-11 18:44:29.293] [info] Accepted new action goal ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933279 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933279 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 9445.797 us (Expected < 1666.667 us) --> Read time : 220.950 us, Update time : 8587.040 us, Write time : 637.807 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 9445.797 us (Expected < 1666.667 us) --> Read time : 220.950 us, Update time : 8587.040 us, Write time : 637.807 us[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781203470.56916690 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.103085 ms (missed cycles : 7). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.103085 ms (missed cycles : 7).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781203471.17452073 seconds. ×3 + 3.25sWARNcontroller_managerOverrun might occur, Total time : 1672.492 us (Expected < 1666.667 us) --> Read time : 242.090 us, Update time : 630.337 us, Write time : 800.065 us + 3.25sWARNros2_control_nodeOverrun might occur, Total time : 1672.492 us (Expected < 1666.667 us) --> Read time : 242.090 us, Update time : 630.337 us, Write time : 800.065 us[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781203471.27462053 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736210 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736210 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781203471.86785412 seconds. ×3 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-06-11 18:44:32.002] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-11 18:44:32.002] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun might occur, Total time : 6208.186 us (Expected < 1666.667 us) --> Read time : 227.329 us, Update time : 5411.433 us, Write time : 569.424 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 6208.186 us (Expected < 1666.667 us) --> Read time : 227.329 us, Update time : 5411.433 us, Write time : 569.424 us[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724223 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724223 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318414 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318414 ms (missed cycles : 3).[0m ×2 + 6.01sWARNcontroller_managerOverrun might occur, Total time : 3906.588 us (Expected < 1666.667 us) --> Read time : 372.786 us, Update time : 2826.422 us, Write time : 707.380 us + 6.01sWARNros2_control_nodeOverrun might occur, Total time : 3906.588 us (Expected < 1666.667 us) --> Read time : 372.786 us, Update time : 2826.422 us, Write time : 707.380 us[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.42sINFOros2_control_node[2026-06-11 18:44:34.372] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-06-11 18:44:34.372] [info] Accepted new action goal ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640416 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640416 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 39 warnings · 94 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2045.238 us (Expected < 1666.667 us) --> Read time : 242.660 us, Update time : 806.675 us, Write time : 995.903 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2045.238 us (Expected < 1666.667 us) --> Read time : 242.660 us, Update time : 806.675 us, Write time : 995.903 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822467 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822467 ms (missed cycles : 4).[0m ×2 + 0.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 3962.101 us (Expected < 1666.667 us) --> Read time : 3317.953 us, Update time : 72.293 us, Write time : 571.855 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 3962.101 us (Expected < 1666.667 us) --> Read time : 3317.953 us, Update time : 72.293 us, Write time : 571.855 us[0m ×2 + 1.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.34sINFOros2_control_node[2026-06-11 18:44:29.293] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-06-11 18:44:29.293] [info] Accepted new action goal ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933279 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933279 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 9445.797 us (Expected < 1666.667 us) --> Read time : 220.950 us, Update time : 8587.040 us, Write time : 637.807 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 9445.797 us (Expected < 1666.667 us) --> Read time : 220.950 us, Update time : 8587.040 us, Write time : 637.807 us[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781203470.56916690 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.103085 ms (missed cycles : 7). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.103085 ms (missed cycles : 7).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781203471.17452073 seconds. ×3 + 3.25sWARNcontroller_managerOverrun might occur, Total time : 1672.492 us (Expected < 1666.667 us) --> Read time : 242.090 us, Update time : 630.337 us, Write time : 800.065 us + 3.25sWARNros2_control_nodeOverrun might occur, Total time : 1672.492 us (Expected < 1666.667 us) --> Read time : 242.090 us, Update time : 630.337 us, Write time : 800.065 us[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781203471.27462053 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736210 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736210 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781203471.86785412 seconds. ×3 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-06-11 18:44:32.002] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-11 18:44:32.002] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun might occur, Total time : 6208.186 us (Expected < 1666.667 us) --> Read time : 227.329 us, Update time : 5411.433 us, Write time : 569.424 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 6208.186 us (Expected < 1666.667 us) --> Read time : 227.329 us, Update time : 5411.433 us, Write time : 569.424 us[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724223 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724223 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318414 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318414 ms (missed cycles : 3).[0m ×2 + 6.01sWARNcontroller_managerOverrun might occur, Total time : 3906.588 us (Expected < 1666.667 us) --> Read time : 372.786 us, Update time : 2826.422 us, Write time : 707.380 us + 6.01sWARNros2_control_nodeOverrun might occur, Total time : 3906.588 us (Expected < 1666.667 us) --> Read time : 372.786 us, Update time : 2826.422 us, Write time : 707.380 us[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.42sINFOros2_control_node[2026-06-11 18:44:34.372] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-06-11 18:44:34.372] [info] Accepted new action goal ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640416 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640416 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 39 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us[0m ×2 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Accepted new action goal ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781203482.10095286 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2).[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us + 3.72sWARNros2_control_nodeOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781203482.84044862 seconds. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6).[0m ×2 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 39 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us[0m ×2 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Accepted new action goal ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781203482.10095286 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2).[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us + 3.72sWARNros2_control_nodeOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781203482.84044862 seconds. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6).[0m ×2 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 39 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us[0m ×2 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Accepted new action goal ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781203482.10095286 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2).[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us + 3.72sWARNros2_control_nodeOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781203482.84044862 seconds. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6).[0m ×2 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 39 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us[0m ×2 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Accepted new action goal ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781203482.10095286 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2).[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us + 3.72sWARNros2_control_nodeOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781203482.84044862 seconds. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6).[0m ×2 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 39 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us[0m ×2 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Accepted new action goal ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781203482.10095286 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2).[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us + 3.72sWARNros2_control_nodeOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781203482.84044862 seconds. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6).[0m ×2 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 39 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us[0m ×2 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Accepted new action goal ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781203482.10095286 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2).[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us + 3.72sWARNros2_control_nodeOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781203482.84044862 seconds. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6).[0m ×2 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 39 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us[0m ×2 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Accepted new action goal ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781203482.10095286 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2).[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us + 3.72sWARNros2_control_nodeOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781203482.84044862 seconds. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6).[0m ×2 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 39 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us[0m ×2 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Accepted new action goal ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781203482.10095286 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2).[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us + 3.72sWARNros2_control_nodeOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781203482.84044862 seconds. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6).[0m ×2 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 39 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us[0m ×2 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Accepted new action goal ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781203482.10095286 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2).[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us + 3.72sWARNros2_control_nodeOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781203482.84044862 seconds. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6).[0m ×2 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 39 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2588.062 us (Expected < 1666.667 us) --> Read time : 222.229 us, Update time : 79.564 us, Write time : 2286.269 us[0m ×2 + 0.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486530 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-11 18:44:39.029] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 1890.951 us (Expected < 1666.667 us) --> Read time : 801.014 us, Update time : 74.774 us, Write time : 1015.163 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903033 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 2357.102 us (Expected < 1666.667 us) --> Read time : 223.170 us, Update time : 126.575 us, Write time : 2007.357 us[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493549 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-06-11 18:44:41.379] [info] Accepted new action goal ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-11 18:44:42.078] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781203482.10095286 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472773 ms (missed cycles : 2).[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us + 3.72sWARNros2_control_nodeOverrun might occur, Total time : 1973.204 us (Expected < 1666.667 us) --> Read time : 252.820 us, Update time : 60.522 us, Write time : 1659.862 us[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781203482.84044862 seconds. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-06-11 18:44:43.084] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.399489 ms (missed cycles : 6).[0m ×2 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 2058.169 us (Expected < 1666.667 us) --> Read time : 244.850 us, Update time : 96.585 us, Write time : 1716.734 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909258 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 3227.349 us (Expected < 1666.667 us) --> Read time : 238.750 us, Update time : 59.743 us, Write time : 2928.856 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235583 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 39 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.973935 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.973935 ms (missed cycles : 4).[0m ×2 + 0.18sWARNcontroller_managerOverrun might occur, Total time : 6496.660 us (Expected < 1666.667 us) --> Read time : 229.440 us, Update time : 45.152 us, Write time : 6222.068 us + 0.19sWARNros2_control_nodeOverrun might occur, Total time : 6496.660 us (Expected < 1666.667 us) --> Read time : 229.440 us, Update time : 45.152 us, Write time : 6222.068 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991026 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991026 ms (missed cycles : 4).[0m ×2 + 1.25sWARNcontroller_managerOverrun might occur, Total time : 2060.639 us (Expected < 1666.667 us) --> Read time : 210.399 us, Update time : 1416.741 us, Write time : 433.499 us + 1.25sWARNros2_control_nodeOverrun might occur, Total time : 2060.639 us (Expected < 1666.667 us) --> Read time : 210.399 us, Update time : 1416.741 us, Write time : 433.499 us[0m ×2 + 1.99sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 1.99sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (5.61e-07 s). ×2 + 2.00sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 2.01sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 2.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 2.09sINFOobjective_server_nodeFound path in 5 iterations (0.00717264 s). ×2 + 2.13sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308795 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308795 ms (missed cycles : 4).[0m ×2 + 2.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.17sINFOros2_control_node[2026-06-11 18:45:02.927] [info] Received new action goal ×2 + 2.17sINFOros2_control_node[2026-06-11 18:45:02.927] [info] Accepted new action goal ×2 + 2.41sWARNcontroller_managerOverrun might occur, Total time : 2056.798 us (Expected < 1666.667 us) --> Read time : 825.165 us, Update time : 97.034 us, Write time : 1134.599 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 2056.798 us (Expected < 1666.667 us) --> Read time : 825.165 us, Update time : 97.034 us, Write time : 1134.599 us[0m ×2 + 2.58sINFOros2_control_node[2026-06-11 18:45:03.328] [info] Received new action goal ×2 + 2.58sINFOros2_control_node[2026-06-11 18:45:03.328] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770610 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770610 ms (missed cycles : 3).[0m ×2 + 3.33sINFOros2_control_node[2026-06-11 18:45:04.080] [info] Got request to cancel active goal. ×2 + 3.33sINFOros2_control_node[2026-06-11 18:45:04.081] [info] Canceling active goal... ×2 + 3.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1781203504.09980226 seconds ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sWARNcontroller_managerOverrun might occur, Total time : 1835.589 us (Expected < 1666.667 us) --> Read time : 348.795 us, Update time : 819.665 us, Write time : 667.129 us + 3.42sWARNros2_control_nodeOverrun might occur, Total time : 1835.589 us (Expected < 1666.667 us) --> Read time : 348.795 us, Update time : 819.665 us, Write time : 667.129 us[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1781203504.76988959 seconds. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.19sINFOros2_control_node[2026-06-11 18:45:04.945] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-06-11 18:45:04.945] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961500 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961500 ms (missed cycles : 2).[0m ×2 + 4.63sWARNcontroller_managerOverrun might occur, Total time : 2025.967 us (Expected < 1666.667 us) --> Read time : 372.086 us, Update time : 630.227 us, Write time : 1023.654 us + 4.64sWARNros2_control_nodeOverrun might occur, Total time : 2025.967 us (Expected < 1666.667 us) --> Read time : 372.086 us, Update time : 630.227 us, Write time : 1023.654 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791971 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791971 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 8364.549 us (Expected < 1666.667 us) --> Read time : 302.173 us, Update time : 101.914 us, Write time : 7960.462 us + 6.06sWARNros2_control_nodeOverrun might occur, Total time : 8364.549 us (Expected < 1666.667 us) --> Read time : 302.173 us, Update time : 101.914 us, Write time : 7960.462 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108193 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108193 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 42 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715087 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715087 ms (missed cycles : 6).[0m ×2 + 0.50sWARNcontroller_managerOverrun might occur, Total time : 5599.090 us (Expected < 1666.667 us) --> Read time : 307.543 us, Update time : 4742.423 us, Write time : 549.124 us + 0.50sWARNros2_control_nodeOverrun might occur, Total time : 5599.090 us (Expected < 1666.667 us) --> Read time : 307.543 us, Update time : 4742.423 us, Write time : 549.124 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003038 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003038 ms (missed cycles : 7).[0m ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 2337.690 us (Expected < 1666.667 us) --> Read time : 270.061 us, Update time : 1625.060 us, Write time : 442.569 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 2337.690 us (Expected < 1666.667 us) --> Read time : 270.061 us, Update time : 1625.060 us, Write time : 442.569 us[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307477 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307477 ms (missed cycles : 4).[0m ×2 + 2.90sWARNcontroller_managerOverrun might occur, Total time : 2084.179 us (Expected < 1666.667 us) --> Read time : 211.049 us, Update time : 1415.090 us, Write time : 458.040 us + 2.90sWARNros2_control_nodeOverrun might occur, Total time : 2084.179 us (Expected < 1666.667 us) --> Read time : 211.049 us, Update time : 1415.090 us, Write time : 458.040 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415523 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415523 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781203516.46806026 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.82sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781203517.08362436 seconds. ×3 + 3.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.88sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.88sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.90sWARNcontroller_managerOverrun might occur, Total time : 3496.379 us (Expected < 1666.667 us) --> Read time : 221.989 us, Update time : 2722.647 us (Switch time : 2673.654 us (Switch chained mode time : 0.450 us, perform mode change time : 5.710 us, Activation time : 2658.534 us, Deactivation time : 0.430 us)), Write time : 551.743 us + 3.90sWARNros2_control_nodeOverrun might occur, Total time : 3496.379 us (Expected < 1666.667 us) --> Read time : 221.989 us, Update time : 2722.647 us (Switch time : 2673.654 us (Switch chained mode time : 0.450 us, perform mode change time : 5.710 us, Activation time : 2658.534 us, Deactivation time : 0.430 us)), Write time : 551.743 us[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781203517.16379905 seconds ×3 + 3.94sWARNcontroller_managerOverrun might occur, Total time : 3797.693 us (Expected < 1666.667 us) --> Read time : 314.384 us, Update time : 58.182 us, Write time : 3425.127 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 3797.693 us (Expected < 1666.667 us) --> Read time : 314.384 us, Update time : 58.182 us, Write time : 3425.127 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358097 ms (missed cycles : 6). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358097 ms (missed cycles : 6).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781203517.87294507 seconds. ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.73sINFOros2_control_node[2026-06-11 18:45:17.997] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-06-11 18:45:17.997] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun might occur, Total time : 8945.694 us (Expected < 1666.667 us) --> Read time : 363.126 us, Update time : 7996.113 us, Write time : 586.455 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 8945.694 us (Expected < 1666.667 us) --> Read time : 363.126 us, Update time : 7996.113 us, Write time : 586.455 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393797 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393797 ms (missed cycles : 2).[0m ×2 + 6.08sWARNcontroller_managerOverrun might occur, Total time : 2104.100 us (Expected < 1666.667 us) --> Read time : 265.141 us, Update time : 82.344 us, Write time : 1756.615 us + 6.08sWARNros2_control_nodeOverrun might occur, Total time : 2104.100 us (Expected < 1666.667 us) --> Read time : 265.141 us, Update time : 82.344 us, Write time : 1756.615 us[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.960744 ms (missed cycles : 7). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.960744 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | ML Auto Grasp Object from Clicked Point | ml_auto_grasp_object_from_clicked_point.xml | 0.0s | 39 warnings · 143 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781203516.46806026 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.62sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781203517.08362436 seconds. ×3 + 0.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 3496.379 us (Expected < 1666.667 us) --> Read time : 221.989 us, Update time : 2722.647 us (Switch time : 2673.654 us (Switch chained mode time : 0.450 us, perform mode change time : 5.710 us, Activation time : 2658.534 us, Deactivation time : 0.430 us)), Write time : 551.743 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 3496.379 us (Expected < 1666.667 us) --> Read time : 221.989 us, Update time : 2722.647 us (Switch time : 2673.654 us (Switch chained mode time : 0.450 us, perform mode change time : 5.710 us, Activation time : 2658.534 us, Deactivation time : 0.430 us)), Write time : 551.743 us[0m ×2 + 0.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781203517.16379905 seconds ×3 + 0.74sWARNcontroller_managerOverrun might occur, Total time : 3797.693 us (Expected < 1666.667 us) --> Read time : 314.384 us, Update time : 58.182 us, Write time : 3425.127 us + 0.74sWARNros2_control_nodeOverrun might occur, Total time : 3797.693 us (Expected < 1666.667 us) --> Read time : 314.384 us, Update time : 58.182 us, Write time : 3425.127 us[0m ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358097 ms (missed cycles : 6). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358097 ms (missed cycles : 6).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781203517.87294507 seconds. ×3 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.53sINFOros2_control_node[2026-06-11 18:45:17.997] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-06-11 18:45:17.997] [info] Accepted new action goal ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 8945.694 us (Expected < 1666.667 us) --> Read time : 363.126 us, Update time : 7996.113 us, Write time : 586.455 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 8945.694 us (Expected < 1666.667 us) --> Read time : 363.126 us, Update time : 7996.113 us, Write time : 586.455 us[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393797 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393797 ms (missed cycles : 2).[0m ×2 + 2.88sWARNcontroller_managerOverrun might occur, Total time : 2104.100 us (Expected < 1666.667 us) --> Read time : 265.141 us, Update time : 82.344 us, Write time : 1756.615 us + 2.88sWARNros2_control_nodeOverrun might occur, Total time : 2104.100 us (Expected < 1666.667 us) --> Read time : 265.141 us, Update time : 82.344 us, Write time : 1756.615 us[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.960744 ms (missed cycles : 7). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.960744 ms (missed cycles : 7).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781203520.00310898 seconds ×3 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 8834.718 us (Expected < 1666.667 us) --> Read time : 257.001 us, Update time : 292.283 us, Write time : 8285.434 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 8834.718 us (Expected < 1666.667 us) --> Read time : 257.001 us, Update time : 292.283 us, Write time : 8285.434 us[0m ×2 + 4.13sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1781203520.59678507 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783996 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783996 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.25sINFOros2_control_node[2026-06-11 18:45:20.720] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-11 18:45:20.720] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun might occur, Total time : 1811.028 us (Expected < 1666.667 us) --> Read time : 244.351 us, Update time : 966.601 us, Write time : 600.076 us + 5.07sWARNros2_control_nodeOverrun might occur, Total time : 1811.028 us (Expected < 1666.667 us) --> Read time : 244.351 us, Update time : 966.601 us, Write time : 600.076 us[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868637 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868637 ms (missed cycles : 2).[0m ×2 + 6.08sWARNcontroller_managerOverrun might occur, Total time : 1677.341 us (Expected < 1666.667 us) --> Read time : 319.903 us, Update time : 815.165 us, Write time : 542.273 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 1677.341 us (Expected < 1666.667 us) --> Read time : 319.903 us, Update time : 815.165 us, Write time : 542.273 us[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912803 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912803 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_server_node[0;93m2026-06-11 18:45:23.217648277 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.75sINFOobjective_server_node[0;93m2026-06-11 18:45:23.218998774 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 39 warnings · 143 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781203516.46806026 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.62sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781203517.08362436 seconds. ×3 + 0.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 3496.379 us (Expected < 1666.667 us) --> Read time : 221.989 us, Update time : 2722.647 us (Switch time : 2673.654 us (Switch chained mode time : 0.450 us, perform mode change time : 5.710 us, Activation time : 2658.534 us, Deactivation time : 0.430 us)), Write time : 551.743 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 3496.379 us (Expected < 1666.667 us) --> Read time : 221.989 us, Update time : 2722.647 us (Switch time : 2673.654 us (Switch chained mode time : 0.450 us, perform mode change time : 5.710 us, Activation time : 2658.534 us, Deactivation time : 0.430 us)), Write time : 551.743 us[0m ×2 + 0.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781203517.16379905 seconds ×3 + 0.74sWARNcontroller_managerOverrun might occur, Total time : 3797.693 us (Expected < 1666.667 us) --> Read time : 314.384 us, Update time : 58.182 us, Write time : 3425.127 us + 0.74sWARNros2_control_nodeOverrun might occur, Total time : 3797.693 us (Expected < 1666.667 us) --> Read time : 314.384 us, Update time : 58.182 us, Write time : 3425.127 us[0m ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358097 ms (missed cycles : 6). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358097 ms (missed cycles : 6).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781203517.87294507 seconds. ×3 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.53sINFOros2_control_node[2026-06-11 18:45:17.997] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-06-11 18:45:17.997] [info] Accepted new action goal ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 8945.694 us (Expected < 1666.667 us) --> Read time : 363.126 us, Update time : 7996.113 us, Write time : 586.455 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 8945.694 us (Expected < 1666.667 us) --> Read time : 363.126 us, Update time : 7996.113 us, Write time : 586.455 us[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393797 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393797 ms (missed cycles : 2).[0m ×2 + 2.88sWARNcontroller_managerOverrun might occur, Total time : 2104.100 us (Expected < 1666.667 us) --> Read time : 265.141 us, Update time : 82.344 us, Write time : 1756.615 us + 2.88sWARNros2_control_nodeOverrun might occur, Total time : 2104.100 us (Expected < 1666.667 us) --> Read time : 265.141 us, Update time : 82.344 us, Write time : 1756.615 us[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.960744 ms (missed cycles : 7). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.960744 ms (missed cycles : 7).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781203520.00310898 seconds ×3 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 8834.718 us (Expected < 1666.667 us) --> Read time : 257.001 us, Update time : 292.283 us, Write time : 8285.434 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 8834.718 us (Expected < 1666.667 us) --> Read time : 257.001 us, Update time : 292.283 us, Write time : 8285.434 us[0m ×2 + 4.13sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1781203520.59678507 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783996 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783996 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.25sINFOros2_control_node[2026-06-11 18:45:20.720] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-11 18:45:20.720] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun might occur, Total time : 1811.028 us (Expected < 1666.667 us) --> Read time : 244.351 us, Update time : 966.601 us, Write time : 600.076 us + 5.07sWARNros2_control_nodeOverrun might occur, Total time : 1811.028 us (Expected < 1666.667 us) --> Read time : 244.351 us, Update time : 966.601 us, Write time : 600.076 us[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868637 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868637 ms (missed cycles : 2).[0m ×2 + 6.08sWARNcontroller_managerOverrun might occur, Total time : 1677.341 us (Expected < 1666.667 us) --> Read time : 319.903 us, Update time : 815.165 us, Write time : 542.273 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 1677.341 us (Expected < 1666.667 us) --> Read time : 319.903 us, Update time : 815.165 us, Write time : 542.273 us[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912803 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912803 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_server_node[0;93m2026-06-11 18:45:23.217648277 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.75sINFOobjective_server_node[0;93m2026-06-11 18:45:23.218998774 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 36 warnings · 102 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781203525.59621239 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.772503 ms (missed cycles : 8). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.772503 ms (missed cycles : 8).[0m ×2 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 1689.692 us (Expected < 1666.667 us) --> Read time : 214.459 us, Update time : 66.173 us, Write time : 1409.060 us + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 1689.692 us (Expected < 1666.667 us) --> Read time : 214.459 us, Update time : 66.173 us, Write time : 1409.060 us[0m ×2 + 0.64sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781203526.24078202 seconds. ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134797 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134797 ms (missed cycles : 3).[0m ×2 + 1.23sINFOobjective_server_node[0;93m2026-06-11 18:45:26.830052423 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.23sINFOobjective_server_node[0;93m2026-06-11 18:45:26.830092055 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 2116.741 us (Expected < 1666.667 us) --> Read time : 445.049 us, Update time : 594.986 us, Write time : 1076.706 us + 1.47sWARNros2_control_nodeOverrun might occur, Total time : 2116.741 us (Expected < 1666.667 us) --> Read time : 445.049 us, Update time : 594.986 us, Write time : 1076.706 us[0m ×2 + 1.78sINFOobjective_server_node[0;93m2026-06-11 18:45:27.375865164 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.78sINFOobjective_server_node[0;93m2026-06-11 18:45:27.375907466 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.90sINFOobjective_server_node[0;93m2026-06-11 18:45:27.500084588 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.91sINFOobjective_server_node[0;93m2026-06-11 18:45:27.502714891 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.91sINFOobjective_server_node[0;93m2026-06-11 18:45:27.502755962 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592183 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592183 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_node[0;93m2026-06-11 18:45:27.850186330 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.27sINFOobjective_server_node[0;93m2026-06-11 18:45:27.869078299 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.27sINFOobjective_server_node[0;93m2026-06-11 18:45:27.869122071 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.55sWARNcontroller_managerOverrun might occur, Total time : 1812.538 us (Expected < 1666.667 us) --> Read time : 312.084 us, Update time : 996.093 us, Write time : 504.361 us + 2.55sWARNros2_control_nodeOverrun might occur, Total time : 1812.538 us (Expected < 1666.667 us) --> Read time : 312.084 us, Update time : 996.093 us, Write time : 504.361 us[0m ×2 + 3.13sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781203528.72572136 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766698 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766698 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781203529.44128442 seconds. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOros2_control_node[2026-06-11 18:45:29.849] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-11 18:45:29.849] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699074 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699074 ms (missed cycles : 2).[0m ×2 + 4.65sWARNcontroller_managerOverrun might occur, Total time : 2139.272 us (Expected < 1666.667 us) --> Read time : 251.321 us, Update time : 88.354 us, Write time : 1799.597 us + 4.65sWARNros2_control_nodeOverrun might occur, Total time : 2139.272 us (Expected < 1666.667 us) --> Read time : 251.321 us, Update time : 88.354 us, Write time : 1799.597 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834771 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834771 ms (missed cycles : 5).[0m ×2 + 5.66sWARNcontroller_managerOverrun might occur, Total time : 2633.493 us (Expected < 1666.667 us) --> Read time : 258.721 us, Update time : 1627.760 us, Write time : 747.012 us + 5.66sWARNros2_control_nodeOverrun might occur, Total time : 2633.493 us (Expected < 1666.667 us) --> Read time : 258.721 us, Update time : 1627.760 us, Write time : 747.012 us[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368819 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 36 warnings · 102 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781203525.59621239 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.772503 ms (missed cycles : 8). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.772503 ms (missed cycles : 8).[0m ×2 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 1689.692 us (Expected < 1666.667 us) --> Read time : 214.459 us, Update time : 66.173 us, Write time : 1409.060 us + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 1689.692 us (Expected < 1666.667 us) --> Read time : 214.459 us, Update time : 66.173 us, Write time : 1409.060 us[0m ×2 + 0.64sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781203526.24078202 seconds. ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134797 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134797 ms (missed cycles : 3).[0m ×2 + 1.23sINFOobjective_server_node[0;93m2026-06-11 18:45:26.830052423 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.23sINFOobjective_server_node[0;93m2026-06-11 18:45:26.830092055 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 2116.741 us (Expected < 1666.667 us) --> Read time : 445.049 us, Update time : 594.986 us, Write time : 1076.706 us + 1.47sWARNros2_control_nodeOverrun might occur, Total time : 2116.741 us (Expected < 1666.667 us) --> Read time : 445.049 us, Update time : 594.986 us, Write time : 1076.706 us[0m ×2 + 1.78sINFOobjective_server_node[0;93m2026-06-11 18:45:27.375865164 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.78sINFOobjective_server_node[0;93m2026-06-11 18:45:27.375907466 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.90sINFOobjective_server_node[0;93m2026-06-11 18:45:27.500084588 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.91sINFOobjective_server_node[0;93m2026-06-11 18:45:27.502714891 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.91sINFOobjective_server_node[0;93m2026-06-11 18:45:27.502755962 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592183 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592183 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_node[0;93m2026-06-11 18:45:27.850186330 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.27sINFOobjective_server_node[0;93m2026-06-11 18:45:27.869078299 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.27sINFOobjective_server_node[0;93m2026-06-11 18:45:27.869122071 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.55sWARNcontroller_managerOverrun might occur, Total time : 1812.538 us (Expected < 1666.667 us) --> Read time : 312.084 us, Update time : 996.093 us, Write time : 504.361 us + 2.55sWARNros2_control_nodeOverrun might occur, Total time : 1812.538 us (Expected < 1666.667 us) --> Read time : 312.084 us, Update time : 996.093 us, Write time : 504.361 us[0m ×2 + 3.13sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781203528.72572136 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766698 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766698 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781203529.44128442 seconds. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOros2_control_node[2026-06-11 18:45:29.849] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-11 18:45:29.849] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699074 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699074 ms (missed cycles : 2).[0m ×2 + 4.65sWARNcontroller_managerOverrun might occur, Total time : 2139.272 us (Expected < 1666.667 us) --> Read time : 251.321 us, Update time : 88.354 us, Write time : 1799.597 us + 4.65sWARNros2_control_nodeOverrun might occur, Total time : 2139.272 us (Expected < 1666.667 us) --> Read time : 251.321 us, Update time : 88.354 us, Write time : 1799.597 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834771 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834771 ms (missed cycles : 5).[0m ×2 + 5.66sWARNcontroller_managerOverrun might occur, Total time : 2633.493 us (Expected < 1666.667 us) --> Read time : 258.721 us, Update time : 1627.760 us, Write time : 747.012 us + 5.66sWARNros2_control_nodeOverrun might occur, Total time : 2633.493 us (Expected < 1666.667 us) --> Read time : 258.721 us, Update time : 1627.760 us, Write time : 747.012 us[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368819 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 36 warnings · 102 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781203525.59621239 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.772503 ms (missed cycles : 8). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.772503 ms (missed cycles : 8).[0m ×2 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 1689.692 us (Expected < 1666.667 us) --> Read time : 214.459 us, Update time : 66.173 us, Write time : 1409.060 us + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 1689.692 us (Expected < 1666.667 us) --> Read time : 214.459 us, Update time : 66.173 us, Write time : 1409.060 us[0m ×2 + 0.64sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781203526.24078202 seconds. ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134797 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134797 ms (missed cycles : 3).[0m ×2 + 1.23sINFOobjective_server_node[0;93m2026-06-11 18:45:26.830052423 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.23sINFOobjective_server_node[0;93m2026-06-11 18:45:26.830092055 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 2116.741 us (Expected < 1666.667 us) --> Read time : 445.049 us, Update time : 594.986 us, Write time : 1076.706 us + 1.47sWARNros2_control_nodeOverrun might occur, Total time : 2116.741 us (Expected < 1666.667 us) --> Read time : 445.049 us, Update time : 594.986 us, Write time : 1076.706 us[0m ×2 + 1.78sINFOobjective_server_node[0;93m2026-06-11 18:45:27.375865164 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.78sINFOobjective_server_node[0;93m2026-06-11 18:45:27.375907466 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.90sINFOobjective_server_node[0;93m2026-06-11 18:45:27.500084588 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.91sINFOobjective_server_node[0;93m2026-06-11 18:45:27.502714891 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.91sINFOobjective_server_node[0;93m2026-06-11 18:45:27.502755962 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592183 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592183 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_node[0;93m2026-06-11 18:45:27.850186330 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.27sINFOobjective_server_node[0;93m2026-06-11 18:45:27.869078299 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.27sINFOobjective_server_node[0;93m2026-06-11 18:45:27.869122071 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.55sWARNcontroller_managerOverrun might occur, Total time : 1812.538 us (Expected < 1666.667 us) --> Read time : 312.084 us, Update time : 996.093 us, Write time : 504.361 us + 2.55sWARNros2_control_nodeOverrun might occur, Total time : 1812.538 us (Expected < 1666.667 us) --> Read time : 312.084 us, Update time : 996.093 us, Write time : 504.361 us[0m ×2 + 3.13sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781203528.72572136 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766698 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766698 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781203529.44128442 seconds. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOros2_control_node[2026-06-11 18:45:29.849] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-11 18:45:29.849] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699074 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699074 ms (missed cycles : 2).[0m ×2 + 4.65sWARNcontroller_managerOverrun might occur, Total time : 2139.272 us (Expected < 1666.667 us) --> Read time : 251.321 us, Update time : 88.354 us, Write time : 1799.597 us + 4.65sWARNros2_control_nodeOverrun might occur, Total time : 2139.272 us (Expected < 1666.667 us) --> Read time : 251.321 us, Update time : 88.354 us, Write time : 1799.597 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834771 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834771 ms (missed cycles : 5).[0m ×2 + 5.66sWARNcontroller_managerOverrun might occur, Total time : 2633.493 us (Expected < 1666.667 us) --> Read time : 258.721 us, Update time : 1627.760 us, Write time : 747.012 us + 5.66sWARNros2_control_nodeOverrun might occur, Total time : 2633.493 us (Expected < 1666.667 us) --> Read time : 258.721 us, Update time : 1627.760 us, Write time : 747.012 us[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368819 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 36 warnings · 69 info |
+ 0.00sINFOros2_control_node[2026-06-11 18:46:18.553] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-11 18:46:18.553] [info] Accepted new action goal ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 1804.522 us (Expected < 1666.667 us) --> Read time : 255.850 us, Update time : 798.572 us, Write time : 750.100 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 1804.522 us (Expected < 1666.667 us) --> Read time : 255.850 us, Update time : 798.572 us, Write time : 750.100 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674491 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674491 ms (missed cycles : 3).[0m ×2 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671135 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671135 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun might occur, Total time : 2290.863 us (Expected < 1666.667 us) --> Read time : 652.877 us, Update time : 485.149 us, Write time : 1152.837 us + 2.26sWARNros2_control_nodeOverrun might occur, Total time : 2290.863 us (Expected < 1666.667 us) --> Read time : 652.877 us, Update time : 485.149 us, Write time : 1152.837 us[0m ×2 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790295 ms (missed cycles : 3). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790295 ms (missed cycles : 3).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 2072.493 us (Expected < 1666.667 us) --> Read time : 426.817 us, Update time : 623.825 us, Write time : 1021.851 us + 3.38sWARNros2_control_nodeOverrun might occur, Total time : 2072.493 us (Expected < 1666.667 us) --> Read time : 426.817 us, Update time : 623.825 us, Write time : 1021.851 us[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1781203582.16323423 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609350 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609350 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781203582.75541687 seconds. ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.38sINFOros2_control_node[2026-06-11 18:46:22.930] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-06-11 18:46:22.930] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 3066.443 us (Expected < 1666.667 us) --> Read time : 199.388 us, Update time : 2095.264 us, Write time : 771.791 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 3066.443 us (Expected < 1666.667 us) --> Read time : 199.388 us, Update time : 2095.264 us, Write time : 771.791 us[0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.282783 ms (missed cycles : 6). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.282783 ms (missed cycles : 6).[0m ×2 + 5.78sWARNcontroller_managerOverrun might occur, Total time : 2109.595 us (Expected < 1666.667 us) --> Read time : 219.949 us, Update time : 812.152 us, Write time : 1077.494 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 2109.595 us (Expected < 1666.667 us) --> Read time : 219.949 us, Update time : 812.152 us, Write time : 1077.494 us[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851315 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851315 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 6.75sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 6.78sWARNcontroller_managerOverrun might occur, Total time : 2282.241 us (Expected < 1666.667 us) --> Read time : 361.704 us, Update time : 784.542 us, Write time : 1135.995 us + 6.78sWARNros2_control_nodeOverrun might occur, Total time : 2282.241 us (Expected < 1666.667 us) --> Read time : 361.704 us, Update time : 784.542 us, Write time : 1135.995 us[0m ×2 + 6.81sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 6.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 339 errors · 39 warnings · 1992 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×379 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000312463401 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×758 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000312463401[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000356333105 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000356333105[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000284545089 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000284545089[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000486095171 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000486095171[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002031575778 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002031575778[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000359409563 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000359409563[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000356360129 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000356360129[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000241837969 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000241837969[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000459307067 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000459307067[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001447597922 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001447597922[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000420416089 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000420416089[0m ×2 + 0.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000321249887 + 0.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000321249887[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000279365491 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000279365491[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000163143535 + 0.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000163143535[0m ×2 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001823902110 + 0.15sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001823902110[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000561780956 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000561780956[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002236899983 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002236899983[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000253540312 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000253540312[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000307871083 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000307871083[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001390758932 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001390758932[0m ×2 + 0.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000245190097 + 0.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000245190097[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000221570506 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000221570506[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000162950789 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000162950789[0m ×2 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000450552076 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000450552076[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137007318 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137007318[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000308279070 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000308279070[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000120613371 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000120613371[0m ×2 + 0.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000207305369 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000207305369[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000368923487 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000368923487[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000185941671 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000185941671[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131503497 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131503497[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000346255498 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000346255498[0m ×2 + 0.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001894795752 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001894795752[0m ×2 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000250556338 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000250556338[0m ×2 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000348853709 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000348853709[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000166984687 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000166984687[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001438580207 + 0.36sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001438580207[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000257530863 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000257530863[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001266343986 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001266343986[0m ×2 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000418027058 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000418027058[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001835192873 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001835192873[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591578 ms (missed cycles : 3). + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000268318991 + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591578 ms (missed cycles : 3).[0m ×2 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000268318991[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001822542138 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001822542138[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131486682 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131486682[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000295131086 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000295131086[0m ×2 + 0.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001448742599 + 0.45sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001448742599[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000925911479 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000925911479[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000261487989 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000261487989[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001135552250 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001135552250[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001321798726 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001321798726[0m ×2 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000193675780 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000193675780[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001130177420 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001130177420[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000178857720 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000178857720[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000286912815 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000286912815[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001103457801 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001103457801[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000957834552 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000957834552[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000256181050 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000256181050[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001180930454 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001180930454[0m ×2 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000161546013 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000161546013[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000190066851 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000190066851[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001467149641 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001467149641[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000164044886 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000164044886[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002053180766 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002053180766[0m ×2 + 0.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001631670345 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001631670345[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000189363282 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000189363282[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001456945961 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001456945961[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001480410641 + 0.64sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001480410641[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000143345878 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000143345878[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000323528658 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000323528658[0m ×2 + 0.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000856749394 + 0.68sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000856749394[0m ×2 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000742662020 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000742662020[0m ×2 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000153372985 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000153372985[0m ×2 + 0.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001342809188 + 0.70sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001342809188[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001133355249 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001133355249[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000126213309 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000126213309[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001277633655 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001277633655[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001346381514 + 0.74sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001346381514[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000165585094 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000165585094[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001217879733 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001217879733[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001249527492 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001249527492[0m ×2 + 0.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000182220816 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000182220816[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000146656163 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000146656163[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001188861893 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001188861893[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000978575724 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000978575724[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001029083284 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001029083284[0m ×2 + 0.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000213431781 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000213431781[0m ×2 + 0.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000810062885 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000810062885[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000824562600 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000824562600[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000689485972 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000689485972[0m ×2 + 0.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001045726071 + 0.90sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001045726071[0m ×2 + 0.90sWARNcontroller_managerOverrun might occur, Total time : 2166.812 us (Expected < 1666.667 us) --> Read time : 262.841 us, Update time : 92.364 us, Write time : 1811.607 us + 0.90sWARNros2_control_nodeOverrun might occur, Total time : 2166.812 us (Expected < 1666.667 us) --> Read time : 262.841 us, Update time : 92.364 us, Write time : 1811.607 us[0m ×2 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000124663091 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000124663091[0m ×2 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000558186796 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000558186796[0m ×2 + 0.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000569415251 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000569415251[0m ×2 + 0.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000468280811 + 0.93sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000468280811[0m ×2 + 0.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000437542981 + 0.94sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000437542981[0m ×2 + 0.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000890632030 + 0.95sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000890632030[0m ×2 + 0.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000711941688 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000711941688[0m ×2 + 0.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000718778634 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000718778634[0m ×2 + 0.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000575861662 + 0.98sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000575861662[0m ×2 + 0.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000462768491 + 0.98sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000462768491[0m ×2 + 0.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000377304167 + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000377304167[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000333445848 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000333445848[0m ×2 + 1.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000724130328 + 1.01sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000724130328[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000143062993 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000143062993[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000709866441 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000709866441[0m ×2 + 1.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000709866827 + 1.03sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000709866827[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000564551709 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000564551709[0m ×2 + 1.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000449100980 ×2 + 1.05sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000449100980[0m ×4 + 1.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000357310847 + 1.08sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000357310847[0m ×2 + 1.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000284290913 + 1.09sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000284290913[0m ×2 + 1.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000143102583 + 1.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000143102583[0m ×2 + 1.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000128251835 + 1.11sERRORros2_control_nodeVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000128251835[0m ×2 + 1.11sINFOjoint_trajectory_controllerAccepted new action goal ×266 + 1.11sINFOros2_control_nodeAccepted new action goal[0m ×532 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997193 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997193 ms (missed cycles : 2).[0m ×2 + 1.90sWARNcontroller_managerOverrun might occur, Total time : 1992.154 us (Expected < 1666.667 us) --> Read time : 776.233 us, Update time : 100.924 us, Write time : 1114.997 us + 1.90sWARNros2_control_nodeOverrun might occur, Total time : 1992.154 us (Expected < 1666.667 us) --> Read time : 776.233 us, Update time : 100.924 us, Write time : 1114.997 us[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776686 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776686 ms (missed cycles : 2).[0m ×2 + 2.91sWARNcontroller_managerOverrun might occur, Total time : 2076.898 us (Expected < 1666.667 us) --> Read time : 214.099 us, Update time : 848.876 us, Write time : 1013.923 us + 2.91sWARNros2_control_nodeOverrun might occur, Total time : 2076.898 us (Expected < 1666.667 us) --> Read time : 214.099 us, Update time : 848.876 us, Write time : 1013.923 us[0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376088 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376088 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781203649.87430382 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sWARNcontroller_managerOverrun might occur, Total time : 3875.254 us (Expected < 1666.667 us) --> Read time : 304.533 us, Update time : 3104.401 us, Write time : 466.320 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 3875.254 us (Expected < 1666.667 us) --> Read time : 304.533 us, Update time : 3104.401 us, Write time : 466.320 us[0m ×2 + 4.25sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1781203650.49731302 seconds. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.46sINFOros2_control_node[2026-06-11 18:47:30.711] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-06-11 18:47:30.711] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368145 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368145 ms (missed cycles : 3).[0m ×2 + 5.08sWARNcontroller_managerOverrun might occur, Total time : 2157.242 us (Expected < 1666.667 us) --> Read time : 371.566 us, Update time : 788.903 us, Write time : 996.773 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 2157.242 us (Expected < 1666.667 us) --> Read time : 371.566 us, Update time : 788.903 us, Write time : 996.773 us[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137677 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137677 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun might occur, Total time : 8859.796 us (Expected < 1666.667 us) --> Read time : 211.599 us, Update time : 8191.607 us, Write time : 456.590 us + 6.15sWARNros2_control_nodeOverrun might occur, Total time : 8859.796 us (Expected < 1666.667 us) --> Read time : 211.599 us, Update time : 8191.607 us, Write time : 456.590 us[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656451 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656451 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 39 warnings · 2544 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×414 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×414 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×828 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×828 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258445 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258445 ms (missed cycles : 2).[0m ×2 + 0.91sWARNcontroller_managerOverrun might occur, Total time : 5027.253 us (Expected < 1666.667 us) --> Read time : 248.230 us, Update time : 103.955 us, Write time : 4675.068 us + 0.92sWARNros2_control_nodeOverrun might occur, Total time : 5027.253 us (Expected < 1666.667 us) --> Read time : 248.230 us, Update time : 103.955 us, Write time : 4675.068 us[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395527 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395527 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 5387.399 us (Expected < 1666.667 us) --> Read time : 201.659 us, Update time : 4626.176 us, Write time : 559.564 us + 2.28sWARNros2_control_nodeOverrun might occur, Total time : 5387.399 us (Expected < 1666.667 us) --> Read time : 201.659 us, Update time : 4626.176 us, Write time : 559.564 us[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076491 ms (missed cycles : 5). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076491 ms (missed cycles : 5).[0m ×2 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 2064.827 us (Expected < 1666.667 us) --> Read time : 1291.235 us, Update time : 99.164 us, Write time : 674.428 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 2064.827 us (Expected < 1666.667 us) --> Read time : 1291.235 us, Update time : 99.164 us, Write time : 674.428 us[0m ×2 + 3.63sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1781203680.25354362 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.498288 ms (missed cycles : 7). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.498288 ms (missed cycles : 7).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1781203680.93272543 seconds. ×3 + 4.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.39sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sWARNcontroller_managerOverrun might occur, Total time : 2708.265 us (Expected < 1666.667 us) --> Read time : 211.519 us, Update time : 2034.226 us, Write time : 462.520 us + 4.46sWARNros2_control_nodeOverrun might occur, Total time : 2708.265 us (Expected < 1666.667 us) --> Read time : 211.519 us, Update time : 2034.226 us, Write time : 462.520 us[0m ×2 + 4.49sINFOobjective_server_nodeFound path in 5 iterations (0.00581629 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.56sINFOros2_control_node[2026-06-11 18:48:01.178] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-06-11 18:48:01.178] [info] Accepted new action goal ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406014 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406014 ms (missed cycles : 3).[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 2547.308 us (Expected < 1666.667 us) --> Read time : 225.800 us, Update time : 1886.530 us, Write time : 434.978 us + 5.52sWARNros2_control_nodeOverrun might occur, Total time : 2547.308 us (Expected < 1666.667 us) --> Read time : 225.800 us, Update time : 1886.530 us, Write time : 434.978 us[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141699 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141699 ms (missed cycles : 2).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312556 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312556 ms (missed cycles : 2).[0m ×2 + 6.96sWARNcontroller_managerOverrun might occur, Total time : 2431.763 us (Expected < 1666.667 us) --> Read time : 289.892 us, Update time : 76.673 us, Write time : 2065.198 us + 6.96sWARNros2_control_nodeOverrun might occur, Total time : 2431.763 us (Expected < 1666.667 us) --> Read time : 289.892 us, Update time : 76.673 us, Write time : 2065.198 us[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 39 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380669 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380669 ms (missed cycles : 2).[0m ×2 + 0.75sWARNcontroller_managerOverrun might occur, Total time : 5480.278 us (Expected < 1666.667 us) --> Read time : 4810.421 us, Update time : 94.924 us, Write time : 574.933 us + 0.75sWARNros2_control_nodeOverrun might occur, Total time : 5480.278 us (Expected < 1666.667 us) --> Read time : 4810.421 us, Update time : 94.924 us, Write time : 574.933 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346846 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346846 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992484 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992484 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun might occur, Total time : 1727.649 us (Expected < 1666.667 us) --> Read time : 261.871 us, Update time : 944.837 us, Write time : 520.941 us + 2.08sWARNros2_control_nodeOverrun might occur, Total time : 1727.649 us (Expected < 1666.667 us) --> Read time : 261.871 us, Update time : 944.837 us, Write time : 520.941 us[0m ×2 + 2.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800519 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800519 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1781203709.47501779 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 6758.569 us (Expected < 1666.667 us) --> Read time : 623.505 us, Update time : 53.312 us, Write time : 6081.752 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 6758.569 us (Expected < 1666.667 us) --> Read time : 623.505 us, Update time : 53.312 us, Write time : 6081.752 us[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sWARNcontroller_managerOverrun might occur, Total time : 4374.144 us (Expected < 1666.667 us) --> Read time : 401.406 us, Update time : 731.449 us (Switch time : 2599.233 us (Switch chained mode time : 0.430 us, perform mode change time : 6.780 us, Activation time : 2591.093 us, Deactivation time : 0.370 us)), Write time : 3241.289 us + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sWARNros2_control_nodeOverrun might occur, Total time : 4374.144 us (Expected < 1666.667 us) --> Read time : 401.406 us, Update time : 731.449 us (Switch time : 2599.233 us (Switch chained mode time : 0.430 us, perform mode change time : 6.780 us, Activation time : 2591.093 us, Deactivation time : 0.370 us)), Write time : 3241.289 us[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1781203710.26649356 seconds. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.032110 ms (missed cycles : 7). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.032110 ms (missed cycles : 7).[0m ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 4.28sINFOros2_control_node[2026-06-11 18:48:30.522] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-06-11 18:48:30.522] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 1988.959 us (Expected < 1666.667 us) --> Read time : 543.851 us, Update time : 400.426 us, Write time : 1044.682 us + 4.48sWARNros2_control_nodeOverrun might occur, Total time : 1988.959 us (Expected < 1666.667 us) --> Read time : 543.851 us, Update time : 400.426 us, Write time : 1044.682 us[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.415723 ms (missed cycles : 6). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.415723 ms (missed cycles : 6).[0m ×2 + 5.61sWARNcontroller_managerOverrun might occur, Total time : 5010.020 us (Expected < 1666.667 us) --> Read time : 237.710 us, Update time : 80.503 us, Write time : 4691.807 us + 5.61sWARNros2_control_nodeOverrun might occur, Total time : 5010.020 us (Expected < 1666.667 us) --> Read time : 237.710 us, Update time : 80.503 us, Write time : 4691.807 us[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747006 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747006 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 39 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380669 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380669 ms (missed cycles : 2).[0m ×2 + 0.75sWARNcontroller_managerOverrun might occur, Total time : 5480.278 us (Expected < 1666.667 us) --> Read time : 4810.421 us, Update time : 94.924 us, Write time : 574.933 us + 0.75sWARNros2_control_nodeOverrun might occur, Total time : 5480.278 us (Expected < 1666.667 us) --> Read time : 4810.421 us, Update time : 94.924 us, Write time : 574.933 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346846 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346846 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992484 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992484 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun might occur, Total time : 1727.649 us (Expected < 1666.667 us) --> Read time : 261.871 us, Update time : 944.837 us, Write time : 520.941 us + 2.08sWARNros2_control_nodeOverrun might occur, Total time : 1727.649 us (Expected < 1666.667 us) --> Read time : 261.871 us, Update time : 944.837 us, Write time : 520.941 us[0m ×2 + 2.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800519 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800519 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1781203709.47501779 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 6758.569 us (Expected < 1666.667 us) --> Read time : 623.505 us, Update time : 53.312 us, Write time : 6081.752 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 6758.569 us (Expected < 1666.667 us) --> Read time : 623.505 us, Update time : 53.312 us, Write time : 6081.752 us[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sWARNcontroller_managerOverrun might occur, Total time : 4374.144 us (Expected < 1666.667 us) --> Read time : 401.406 us, Update time : 731.449 us (Switch time : 2599.233 us (Switch chained mode time : 0.430 us, perform mode change time : 6.780 us, Activation time : 2591.093 us, Deactivation time : 0.370 us)), Write time : 3241.289 us + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sWARNros2_control_nodeOverrun might occur, Total time : 4374.144 us (Expected < 1666.667 us) --> Read time : 401.406 us, Update time : 731.449 us (Switch time : 2599.233 us (Switch chained mode time : 0.430 us, perform mode change time : 6.780 us, Activation time : 2591.093 us, Deactivation time : 0.370 us)), Write time : 3241.289 us[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1781203710.26649356 seconds. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.032110 ms (missed cycles : 7). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.032110 ms (missed cycles : 7).[0m ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 4.28sINFOros2_control_node[2026-06-11 18:48:30.522] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-06-11 18:48:30.522] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 1988.959 us (Expected < 1666.667 us) --> Read time : 543.851 us, Update time : 400.426 us, Write time : 1044.682 us + 4.48sWARNros2_control_nodeOverrun might occur, Total time : 1988.959 us (Expected < 1666.667 us) --> Read time : 543.851 us, Update time : 400.426 us, Write time : 1044.682 us[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.415723 ms (missed cycles : 6). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.415723 ms (missed cycles : 6).[0m ×2 + 5.61sWARNcontroller_managerOverrun might occur, Total time : 5010.020 us (Expected < 1666.667 us) --> Read time : 237.710 us, Update time : 80.503 us, Write time : 4691.807 us + 5.61sWARNros2_control_nodeOverrun might occur, Total time : 5010.020 us (Expected < 1666.667 us) --> Read time : 237.710 us, Update time : 80.503 us, Write time : 4691.807 us[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747006 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747006 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 39 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5).[0m ×2 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.90sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us[0m ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 1.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 1.17sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 1.22sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 1.24sINFOobjective_server_nodeFound path in 5 iterations (0.0048806 s). ×2 + 1.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 1.29sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Received new action goal ×2 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Accepted new action goal ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us + 2.08sWARNros2_control_nodeOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us + 3.15sWARNros2_control_nodeOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us[0m ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Got request to cancel active goal. ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Canceling active goal... ×2 + 3.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781203720.58469510 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781203721.25386167 seconds. ×3 + 4.19sWARNcontroller_managerOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us + 4.19sWARNros2_control_nodeOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 39 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5).[0m ×2 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.90sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us[0m ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 1.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 1.17sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 1.22sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 1.24sINFOobjective_server_nodeFound path in 5 iterations (0.0048806 s). ×2 + 1.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 1.29sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Received new action goal ×2 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Accepted new action goal ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us + 2.08sWARNros2_control_nodeOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us + 3.15sWARNros2_control_nodeOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us[0m ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Got request to cancel active goal. ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Canceling active goal... ×2 + 3.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781203720.58469510 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781203721.25386167 seconds. ×3 + 4.19sWARNcontroller_managerOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us + 4.19sWARNros2_control_nodeOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 39 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5).[0m ×2 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.90sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us[0m ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 1.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 1.17sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 1.22sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 1.24sINFOobjective_server_nodeFound path in 5 iterations (0.0048806 s). ×2 + 1.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 1.29sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Received new action goal ×2 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Accepted new action goal ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us + 2.08sWARNros2_control_nodeOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us + 3.15sWARNros2_control_nodeOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us[0m ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Got request to cancel active goal. ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Canceling active goal... ×2 + 3.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781203720.58469510 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781203721.25386167 seconds. ×3 + 4.19sWARNcontroller_managerOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us + 4.19sWARNros2_control_nodeOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 39 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5).[0m ×2 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.90sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us[0m ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 1.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 1.17sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 1.22sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 1.24sINFOobjective_server_nodeFound path in 5 iterations (0.0048806 s). ×2 + 1.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 1.29sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Received new action goal ×2 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Accepted new action goal ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us + 2.08sWARNros2_control_nodeOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us + 3.15sWARNros2_control_nodeOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us[0m ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Got request to cancel active goal. ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Canceling active goal... ×2 + 3.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781203720.58469510 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781203721.25386167 seconds. ×3 + 4.19sWARNcontroller_managerOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us + 4.19sWARNros2_control_nodeOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 39 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1905.936 us (Expected < 1666.667 us) --> Read time : 254.080 us, Update time : 327.753 us, Write time : 1324.103 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.674395 ms (missed cycles : 5).[0m ×2 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 0.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.90sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 3975.819 us (Expected < 1666.667 us) --> Read time : 264.431 us, Update time : 3169.316 us, Write time : 542.072 us[0m ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 1.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 1.17sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 1.22sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 1.24sINFOobjective_server_nodeFound path in 5 iterations (0.0048806 s). ×2 + 1.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 1.29sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Received new action goal ×2 + 1.30sINFOros2_control_node[2026-06-11 18:48:38.503] [info] Accepted new action goal ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495585 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us + 2.08sWARNros2_control_nodeOverrun might occur, Total time : 1898.616 us (Expected < 1666.667 us) --> Read time : 251.110 us, Update time : 71.123 us, Write time : 1576.383 us[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312679 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us + 3.15sWARNros2_control_nodeOverrun might occur, Total time : 1731.459 us (Expected < 1666.667 us) --> Read time : 233.119 us, Update time : 76.013 us, Write time : 1422.327 us[0m ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Got request to cancel active goal. ×2 + 3.38sINFOros2_control_node[2026-06-11 18:48:40.576] [info] Canceling active goal... ×2 + 3.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781203720.58469510 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.378123 ms (missed cycles : 6).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781203721.25386167 seconds. ×3 + 4.19sWARNcontroller_managerOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us + 4.19sWARNros2_control_nodeOverrun might occur, Total time : 6259.520 us (Expected < 1666.667 us) --> Read time : 211.538 us, Update time : 49.252 us, Write time : 5998.730 us[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-06-11 18:48:41.428] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704829 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 2192.188 us (Expected < 1666.667 us) --> Read time : 220.589 us, Update time : 72.443 us, Write time : 1899.156 us[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547497 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 1763.920 us (Expected < 1666.667 us) --> Read time : 248.540 us, Update time : 49.702 us, Write time : 1465.678 us[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 39 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.207429 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.207429 ms (missed cycles : 6).[0m ×2 + 0.12sWARNcontroller_managerOverrun might occur, Total time : 1979.594 us (Expected < 1666.667 us) --> Read time : 1398.840 us, Update time : 120.995 us, Write time : 459.759 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 1979.594 us (Expected < 1666.667 us) --> Read time : 1398.840 us, Update time : 120.995 us, Write time : 459.759 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352184 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352184 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun might occur, Total time : 2055.508 us (Expected < 1666.667 us) --> Read time : 239.810 us, Update time : 64.933 us, Write time : 1750.765 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 2055.508 us (Expected < 1666.667 us) --> Read time : 239.810 us, Update time : 64.933 us, Write time : 1750.765 us[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845236 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845236 ms (missed cycles : 2).[0m ×2 + 2.39sWARNcontroller_managerOverrun might occur, Total time : 1887.520 us (Expected < 1666.667 us) --> Read time : 885.548 us, Update time : 67.612 us, Write time : 934.360 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 1887.520 us (Expected < 1666.667 us) --> Read time : 885.548 us, Update time : 67.612 us, Write time : 934.360 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448805 ms (missed cycles : 6). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.448805 ms (missed cycles : 6).[0m ×2 + 3.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1781203731.57479310 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 1900.721 us (Expected < 1666.667 us) --> Read time : 233.050 us, Update time : 678.769 us, Write time : 988.902 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 1900.721 us (Expected < 1666.667 us) --> Read time : 233.050 us, Update time : 678.769 us, Write time : 988.902 us[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1781203732.16971040 seconds. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751056 ms (missed cycles : 5). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751056 ms (missed cycles : 5).[0m ×2 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.27sINFOros2_control_node[2026-06-11 18:48:52.440] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-06-11 18:48:52.440] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun might occur, Total time : 2160.502 us (Expected < 1666.667 us) --> Read time : 387.236 us, Update time : 700.790 us, Write time : 1072.476 us + 4.71sWARNros2_control_nodeOverrun might occur, Total time : 2160.502 us (Expected < 1666.667 us) --> Read time : 387.236 us, Update time : 700.790 us, Write time : 1072.476 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880996 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880996 ms (missed cycles : 3).[0m ×2 + 5.83sWARNcontroller_managerOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 1288.535 us, Update time : 75.963 us, Write time : 474.771 us + 5.83sWARNros2_control_nodeOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 1288.535 us, Update time : 75.963 us, Write time : 474.771 us[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865463 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865463 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 42 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2331.289 us (Expected < 1666.667 us) --> Read time : 399.977 us, Update time : 852.086 us, Write time : 1079.226 us + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528787 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2331.289 us (Expected < 1666.667 us) --> Read time : 399.977 us, Update time : 852.086 us, Write time : 1079.226 us[0m ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528787 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.304737 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.304737 ms (missed cycles : 6).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 2157.742 us (Expected < 1666.667 us) --> Read time : 1539.526 us, Update time : 104.164 us, Write time : 514.052 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 2157.742 us (Expected < 1666.667 us) --> Read time : 1539.526 us, Update time : 104.164 us, Write time : 514.052 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373620 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373620 ms (missed cycles : 3).[0m ×2 + 2.49sWARNcontroller_managerOverrun might occur, Total time : 2181.293 us (Expected < 1666.667 us) --> Read time : 938.070 us, Update time : 98.504 us, Write time : 1144.719 us + 2.50sWARNros2_control_nodeOverrun might occur, Total time : 2181.293 us (Expected < 1666.667 us) --> Read time : 938.070 us, Update time : 98.504 us, Write time : 1144.719 us[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853341 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853341 ms (missed cycles : 2).[0m ×2 + 3.52sWARNcontroller_managerOverrun might occur, Total time : 1734.915 us (Expected < 1666.667 us) --> Read time : 336.815 us, Update time : 934.570 us, Write time : 463.530 us + 3.52sWARNros2_control_nodeOverrun might occur, Total time : 1734.915 us (Expected < 1666.667 us) --> Read time : 336.815 us, Update time : 934.570 us, Write time : 463.530 us[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1781203742.03504848 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720005 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720005 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1781203742.64097166 seconds. ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-06-11 18:49:02.772] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-06-11 18:49:02.772] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun might occur, Total time : 1912.672 us (Expected < 1666.667 us) --> Read time : 223.530 us, Update time : 73.653 us, Write time : 1615.489 us + 4.62sWARNros2_control_nodeOverrun might occur, Total time : 1912.672 us (Expected < 1666.667 us) --> Read time : 223.530 us, Update time : 73.653 us, Write time : 1615.489 us[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732940 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732940 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun might occur, Total time : 3575.153 us (Expected < 1666.667 us) --> Read time : 188.088 us, Update time : 2918.005 us, Write time : 469.060 us + 5.63sWARNros2_control_nodeOverrun might occur, Total time : 3575.153 us (Expected < 1666.667 us) --> Read time : 188.088 us, Update time : 2918.005 us, Write time : 469.060 us[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.714313 ms (missed cycles : 5). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.714313 ms (missed cycles : 5).[0m ×2 + 6.33sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.86sWARNcontroller_managerOverrun might occur, Total time : 2558.529 us (Expected < 1666.667 us) --> Read time : 1944.923 us, Update time : 65.492 us, Write time : 548.114 us + 6.87sWARNros2_control_nodeOverrun might occur, Total time : 2558.529 us (Expected < 1666.667 us) --> Read time : 1944.923 us, Update time : 65.492 us, Write time : 548.114 us[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 42 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.702611 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.702611 ms (missed cycles : 8).[0m ×2 + 0.87sWARNcontroller_managerOverrun might occur, Total time : 3975.719 us (Expected < 1666.667 us) --> Read time : 650.408 us, Update time : 2782.428 us, Write time : 542.883 us + 0.88sWARNros2_control_nodeOverrun might occur, Total time : 3975.719 us (Expected < 1666.667 us) --> Read time : 650.408 us, Update time : 2782.428 us, Write time : 542.883 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.398040 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.398040 ms (missed cycles : 6).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8).[0m ×2 + 2.10sWARNcontroller_managerOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4).[0m ×2 + 3.24sWARNcontroller_managerOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us + 3.25sWARNros2_control_nodeOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us[0m ×2 + 3.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781203753.18126750 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781203753.83794951 seconds. ×3 + 4.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.22sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.25sWARNcontroller_managerOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781203753.92811179 seconds ×3 + 4.28sWARNcontroller_managerOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781203754.50499654 seconds. ×3 + 4.85sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781203754.52726221 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us + 5.35sWARNros2_control_nodeOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781203755.13126111 seconds. ×3 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.57sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Received new action goal ×2 + 5.57sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Accepted new action goal ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 42 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.702611 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.702611 ms (missed cycles : 8).[0m ×2 + 0.87sWARNcontroller_managerOverrun might occur, Total time : 3975.719 us (Expected < 1666.667 us) --> Read time : 650.408 us, Update time : 2782.428 us, Write time : 542.883 us + 0.88sWARNros2_control_nodeOverrun might occur, Total time : 3975.719 us (Expected < 1666.667 us) --> Read time : 650.408 us, Update time : 2782.428 us, Write time : 542.883 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.398040 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.398040 ms (missed cycles : 6).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8).[0m ×2 + 2.10sWARNcontroller_managerOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4).[0m ×2 + 3.24sWARNcontroller_managerOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us + 3.25sWARNros2_control_nodeOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us[0m ×2 + 3.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781203753.18126750 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781203753.83794951 seconds. ×3 + 4.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.22sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.25sWARNcontroller_managerOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781203753.92811179 seconds ×3 + 4.28sWARNcontroller_managerOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781203754.50499654 seconds. ×3 + 4.85sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781203754.52726221 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us + 5.35sWARNros2_control_nodeOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781203755.13126111 seconds. ×3 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.57sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Received new action goal ×2 + 5.57sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Accepted new action goal ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 39 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8).[0m ×2 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us + 0.06sWARNros2_control_nodeOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us[0m ×2 + 1.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781203753.18126750 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781203753.83794951 seconds. ×3 + 2.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.16sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.17sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781203753.92811179 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781203754.50499654 seconds. ×3 + 2.80sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.80sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781203754.52726221 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4).[0m ×2 + 3.29sWARNcontroller_managerOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781203755.13126111 seconds. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.52sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2).[0m ×2 + 4.31sWARNcontroller_managerOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us + 4.31sWARNros2_control_nodeOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368527 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368527 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun might occur, Total time : 2155.053 us (Expected < 1666.667 us) --> Read time : 405.308 us, Update time : 1103.247 us, Write time : 646.498 us + 5.33sWARNros2_control_nodeOverrun might occur, Total time : 2155.053 us (Expected < 1666.667 us) --> Read time : 405.308 us, Update time : 1103.247 us, Write time : 646.498 us[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 39 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.808416 ms (missed cycles : 8).[0m ×2 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us + 0.06sWARNros2_control_nodeOverrun might occur, Total time : 5300.107 us (Expected < 1666.667 us) --> Read time : 298.333 us, Update time : 603.476 us, Write time : 4398.298 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924628 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 2031.087 us (Expected < 1666.667 us) --> Read time : 659.019 us, Update time : 181.657 us, Write time : 1190.411 us[0m ×2 + 1.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781203753.18126750 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.649072 ms (missed cycles : 8).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781203753.83794951 seconds. ×3 + 2.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.16sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.17sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 3999.860 us (Expected < 1666.667 us) --> Read time : 233.270 us, Update time : 3181.135 us (Switch time : 3123.883 us (Switch chained mode time : 0.450 us, perform mode change time : 2.930 us, Activation time : 3111.162 us, Deactivation time : 0.320 us)), Write time : 585.455 us[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781203753.92811179 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 3865.495 us (Expected < 1666.667 us) --> Read time : 423.408 us, Update time : 2795.270 us, Write time : 646.817 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781203754.50499654 seconds. ×3 + 2.80sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.80sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781203754.52726221 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420067 ms (missed cycles : 4).[0m ×2 + 3.29sWARNcontroller_managerOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 1854.289 us (Expected < 1666.667 us) --> Read time : 250.631 us, Update time : 95.034 us, Write time : 1508.624 us[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781203755.13126111 seconds. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.52sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-06-11 18:49:15.246] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285527 ms (missed cycles : 2).[0m ×2 + 4.31sWARNcontroller_managerOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us + 4.31sWARNros2_control_nodeOverrun might occur, Total time : 2122.301 us (Expected < 1666.667 us) --> Read time : 268.262 us, Update time : 272.491 us, Write time : 1581.548 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368527 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368527 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun might occur, Total time : 2155.053 us (Expected < 1666.667 us) --> Read time : 405.308 us, Update time : 1103.247 us, Write time : 646.498 us + 5.33sWARNros2_control_nodeOverrun might occur, Total time : 2155.053 us (Expected < 1666.667 us) --> Read time : 405.308 us, Update time : 1103.247 us, Write time : 646.498 us[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 45 warnings · 128 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1951.914 us (Expected < 1666.667 us) --> Read time : 409.168 us, Update time : 897.528 us, Write time : 645.218 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1951.914 us (Expected < 1666.667 us) --> Read time : 409.168 us, Update time : 897.528 us, Write time : 645.218 us[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810900 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810900 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun might occur, Total time : 1746.534 us (Expected < 1666.667 us) --> Read time : 392.446 us, Update time : 132.856 us, Write time : 1221.232 us + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506738 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 1746.534 us (Expected < 1666.667 us) --> Read time : 392.446 us, Update time : 132.856 us, Write time : 1221.232 us[0m ×2 + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506738 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.499722 ms (missed cycles : 6). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.499722 ms (missed cycles : 6).[0m ×2 + 2.49sWARNcontroller_managerOverrun might occur, Total time : 2871.354 us (Expected < 1666.667 us) --> Read time : 776.674 us, Update time : 680.449 us, Write time : 1414.231 us + 2.49sWARNros2_control_nodeOverrun might occur, Total time : 2871.354 us (Expected < 1666.667 us) --> Read time : 776.674 us, Update time : 680.449 us, Write time : 1414.231 us[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.772661 ms (missed cycles : 7). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.772661 ms (missed cycles : 7).[0m ×2 + 3.61sWARNcontroller_managerOverrun might occur, Total time : 5439.624 us (Expected < 1666.667 us) --> Read time : 211.149 us, Update time : 860.087 us, Write time : 4368.388 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 5439.624 us (Expected < 1666.667 us) --> Read time : 211.149 us, Update time : 860.087 us, Write time : 4368.388 us[0m ×2 + 3.66sINFOros2_control_node[2026-06-11 18:49:25.681] [info] Got request to cancel active goal. ×2 + 3.66sINFOros2_control_node[2026-06-11 18:49:25.681] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781203765.68696427 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781203766.27736068 seconds. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404711 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404711 ms (missed cycles : 3).[0m ×2 + 4.68sWARNcontroller_managerOverrun might occur, Total time : 1777.076 us (Expected < 1666.667 us) --> Read time : 224.699 us, Update time : 593.916 us, Write time : 958.461 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 1777.076 us (Expected < 1666.667 us) --> Read time : 224.699 us, Update time : 593.916 us, Write time : 958.461 us[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781203767.08749461 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866129 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866129 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781203767.68061733 seconds. ×3 + 5.66sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.66sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.66sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.66sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781203767.68240118 seconds ×3 + 5.85sWARNcontroller_managerOverrun might occur, Total time : 7481.311 us (Expected < 1666.667 us) --> Read time : 274.431 us, Update time : 6461.988 us, Write time : 744.892 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 7481.311 us (Expected < 1666.667 us) --> Read time : 274.431 us, Update time : 6461.988 us, Write time : 744.892 us[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781203768.26485419 seconds. ×3 + 6.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781203768.26550388 seconds ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724335 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724335 ms (missed cycles : 2).[0m ×2 + 6.87sWARNcontroller_managerOverrun might occur, Total time : 3207.228 us (Expected < 1666.667 us) --> Read time : 281.052 us, Update time : 983.622 us, Write time : 1942.554 us + 6.88sWARNros2_control_nodeOverrun might occur, Total time : 3207.228 us (Expected < 1666.667 us) --> Read time : 281.052 us, Update time : 983.622 us, Write time : 1942.554 us[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 45 warnings · 128 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1951.914 us (Expected < 1666.667 us) --> Read time : 409.168 us, Update time : 897.528 us, Write time : 645.218 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1951.914 us (Expected < 1666.667 us) --> Read time : 409.168 us, Update time : 897.528 us, Write time : 645.218 us[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810900 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810900 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun might occur, Total time : 1746.534 us (Expected < 1666.667 us) --> Read time : 392.446 us, Update time : 132.856 us, Write time : 1221.232 us + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506738 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 1746.534 us (Expected < 1666.667 us) --> Read time : 392.446 us, Update time : 132.856 us, Write time : 1221.232 us[0m ×2 + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506738 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.499722 ms (missed cycles : 6). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.499722 ms (missed cycles : 6).[0m ×2 + 2.49sWARNcontroller_managerOverrun might occur, Total time : 2871.354 us (Expected < 1666.667 us) --> Read time : 776.674 us, Update time : 680.449 us, Write time : 1414.231 us + 2.49sWARNros2_control_nodeOverrun might occur, Total time : 2871.354 us (Expected < 1666.667 us) --> Read time : 776.674 us, Update time : 680.449 us, Write time : 1414.231 us[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.772661 ms (missed cycles : 7). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.772661 ms (missed cycles : 7).[0m ×2 + 3.61sWARNcontroller_managerOverrun might occur, Total time : 5439.624 us (Expected < 1666.667 us) --> Read time : 211.149 us, Update time : 860.087 us, Write time : 4368.388 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 5439.624 us (Expected < 1666.667 us) --> Read time : 211.149 us, Update time : 860.087 us, Write time : 4368.388 us[0m ×2 + 3.66sINFOros2_control_node[2026-06-11 18:49:25.681] [info] Got request to cancel active goal. ×2 + 3.66sINFOros2_control_node[2026-06-11 18:49:25.681] [info] Canceling active goal... ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781203765.68696427 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781203766.27736068 seconds. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404711 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404711 ms (missed cycles : 3).[0m ×2 + 4.68sWARNcontroller_managerOverrun might occur, Total time : 1777.076 us (Expected < 1666.667 us) --> Read time : 224.699 us, Update time : 593.916 us, Write time : 958.461 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 1777.076 us (Expected < 1666.667 us) --> Read time : 224.699 us, Update time : 593.916 us, Write time : 958.461 us[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781203767.08749461 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866129 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866129 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781203767.68061733 seconds. ×3 + 5.66sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.66sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.66sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.66sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781203767.68240118 seconds ×3 + 5.85sWARNcontroller_managerOverrun might occur, Total time : 7481.311 us (Expected < 1666.667 us) --> Read time : 274.431 us, Update time : 6461.988 us, Write time : 744.892 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 7481.311 us (Expected < 1666.667 us) --> Read time : 274.431 us, Update time : 6461.988 us, Write time : 744.892 us[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781203768.26485419 seconds. ×3 + 6.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781203768.26550388 seconds ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724335 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724335 ms (missed cycles : 2).[0m ×2 + 6.87sWARNcontroller_managerOverrun might occur, Total time : 3207.228 us (Expected < 1666.667 us) --> Read time : 281.052 us, Update time : 983.622 us, Write time : 1942.554 us + 6.88sWARNros2_control_nodeOverrun might occur, Total time : 3207.228 us (Expected < 1666.667 us) --> Read time : 281.052 us, Update time : 983.622 us, Write time : 1942.554 us[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.0s | 61 warnings · 573 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-11-18-43-52-770979-43a59b1618a4-9084 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.63sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.63sINFOcontroller_managerupdate rate is 600 Hz + 1.63sINFOcontroller_managerOverruns handling is : enabled + 1.63sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.63sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.72sINFOros2_control_node-1process started with pid [9131] ×2 + 1.72sINFOmove_group-9process started with pid [9157] ×2 + 1.72sINFOparameter_manager_node-10process started with pid [9158] ×2 + 1.72sINFOwaypoint_manager_node-11process started with pid [9159] ×2 + 1.72sINFOmove_joint_resampler_node-12process started with pid [9160] ×2 + 1.72sINFOmove_end_effector_resampler_node-13process started with pid [9161] ×2 + 1.72sINFOobjective_server_node_main-14process started with pid [9162] ×2 + 1.72sINFOcomponent_container_mt-15process started with pid [9163] ×2 + 1.72sINFOexecute_objective_bridge-16process started with pid [9164] ×2 + 1.72sINFOui_teleop_bridge-17process started with pid [9165] ×2 + 1.72sINFOweb_bridge-18process started with pid [9166] ×2 + 1.72sINFOtf2_web_republisher_node-19process started with pid [9167] ×2 + 1.72sINFOweb_video_server-20process started with pid [9281] ×2 + 1.72sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9132] ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9133] ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9134] ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9135] ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9137] ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9139] ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9142] ×2 + 1.74sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.74sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.74sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.74sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.74sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.74sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 1.77sINFOcontroller_managerReceived robot description from topic. + 1.77sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.77sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.77sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402203 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402203 ms (missed cycles : 3).[0m ×2 + 1.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.79sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.79sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.15sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.15sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.16sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.17sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535528 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535528 ms (missed cycles : 2).[0m ×2 + 3.02sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.04sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.13sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.13sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.13sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.13sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 4.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.13sINFOobjective_server_node[2026-06-11 18:43:57.595] [moveit_pro_license] [info] ×2 + 4.13sINFOobjective_server_node************************************************* ×4 + 4.13sINFOobjective_server_node* MoveIt Pro License ×2 + 4.13sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.55sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.55sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.55sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.55sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.55sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.55sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.55sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.55sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.55sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.55sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.55sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.55sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.55sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682080 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682080 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 4.59sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.61sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.61sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.61sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.61sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.61sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.61sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.61sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.61sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.77sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.77sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.77sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.77sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.78sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 4.78sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 4.79sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.79sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.79sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 4.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 4.79sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.79sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.79sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.79sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 4.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 4.80sINFOcontroller_managerSuccessfully switched controllers! ×14 + 4.80sWARNcontroller_managerOverrun might occur, Total time : 4675.602 us (Expected < 1666.667 us) --> Read time : 198.939 us, Update time : 3955.141 us (Switch time : 3939.710 us (Switch chained mode time : 1.590 us, perform mode change time : 7.851 us, Activation time : 3919.939 us, Deactivation time : 1.200 us)), Write time : 521.522 us + 4.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 4.80sWARNros2_control_nodeOverrun might occur, Total time : 4675.602 us (Expected < 1666.667 us) --> Read time : 198.939 us, Update time : 3955.141 us (Switch time : 3939.710 us (Switch chained mode time : 1.590 us, perform mode change time : 7.851 us, Activation time : 3919.939 us, Deactivation time : 1.200 us)), Write time : 521.522 us[0m ×2 + 4.81sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 4.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 4.89sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.89sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 5.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.13sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 5.14sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9133] ×2 + 5.18sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 5.18sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 5.21sWARNcontroller_managerOverrun might occur, Total time : 1872.001 us (Expected < 1666.667 us) --> Read time : 1376.180 us, Update time : 22.601 us, Write time : 473.220 us + 5.21sWARNros2_control_nodeOverrun might occur, Total time : 1872.001 us (Expected < 1666.667 us) --> Read time : 1376.180 us, Update time : 22.601 us, Write time : 473.220 us[0m ×2 + 5.26sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 5.26sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 5.26sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 5.26sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 5.26sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 5.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 5.29sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 5.29sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 5.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 5.35sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 5.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 5.35sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.35sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.36sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 5.38sINFOros2_control_node[2026-06-11 18:43:58.843] [info] Controller state will be published at 20 Hz. ×2 + 5.38sINFOros2_control_node[2026-06-11 18:43:58.844] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.41sINFOmove_group ×4 + 5.41sINFOmove_group[92mYou can start planning now![0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122294 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122294 ms (missed cycles : 3).[0m ×2 + 5.69sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.69sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.69sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.69sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.69sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 5.69sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 5.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9142] ×2 + 5.74sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 5.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 5.74sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.74sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.75sINFOforce_torque_sensor_broadcasterconfigure successful + 5.75sINFOros2_control_nodeconfigure successful[0m ×2 + 5.75sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.75sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.76sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 5.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 5.97sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 6.04sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.04sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.04sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.04sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9132] ×2 + 6.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 6.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 6.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 6.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 6.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.19sINFOros2_control_node[2026-06-11 18:43:59.656] [info] Controller state will be published at 10 Hz. ×2 + 6.19sINFOros2_control_node[2026-06-11 18:43:59.657] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.50sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.50sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.50sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.51sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 6.51sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 6.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9139] ×2 + 6.56sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.59sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 6.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 6.59sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.59sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.59sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.59sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.59sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.59sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.59sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.60sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.60sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.60sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 6.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 6.60sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 6.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 6.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 6.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 6.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 6.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 6.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 6.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9135] ×2 + 6.92sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 6.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 7.18sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.18sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.18sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.18sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.19sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 7.19sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 7.20sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 7.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 7.20sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.20sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.20sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 7.20sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 7.20sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 7.20sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.21sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.21sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 7.21sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 7.21sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 7.21sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.21sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.22sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 7.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6).[0m ×2 + 7.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203440.74805307 seconds. ×3 + 7.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203440.75830841 seconds ×3 + 7.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.54sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 7.54sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 7.54sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 7.54sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 7.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9134] ×2 + 7.63sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 7.63sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 7.67sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 7.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 7.68sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 7.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 7.68sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.68sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.71sINFOros2_control_node[2026-06-11 18:44:01.169] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 7.71sINFOros2_control_node[2026-06-11 18:44:01.169] [info] Controller state will be published at 50 Hz. ×2 + 7.71sINFOros2_control_node[2026-06-11 18:44:01.175] [info] Registered `FollowJointTrajectory` action server. ×2 + 7.87sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 7.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 8.15sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 8.16sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 8.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 9.31sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 9.32sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 9.51sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 9.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 9.61sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 9.61sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 10.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 10.32sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 10.32sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 10.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 10.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 54 warnings · 382 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9139] ×2 + 0.06sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.08sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.09sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.09sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.10sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9135] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.68sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.68sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.68sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.68sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.68sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.68sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.70sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.70sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.70sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.70sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.70sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.70sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.70sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.70sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.70sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.70sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.71sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.71sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.72sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6).[0m ×2 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203440.74805307 seconds. ×3 + 0.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203440.75830841 seconds ×3 + 0.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.04sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.04sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9134] ×2 + 1.13sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 1.13sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 1.17sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.18sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.18sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_node[2026-06-11 18:44:01.169] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.21sINFOros2_control_node[2026-06-11 18:44:01.169] [info] Controller state will be published at 50 Hz. ×2 + 1.21sINFOros2_control_node[2026-06-11 18:44:01.175] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 1.65sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 1.65sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 2.81sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 2.81sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 3.11sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 4.99sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 5.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 5.29sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 5.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 6.02sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.04sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 6.04sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.12sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 6.12sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 7.07sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 7.08sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 60 warnings · 311 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.02sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.04sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6).[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203440.74805307 seconds. ×3 + 0.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203440.75830841 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9134] ×2 + 0.45sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.45sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.50sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.50sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.50sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.50sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.51sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 18:44:01.169] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.53sINFOros2_control_node[2026-06-11 18:44:01.169] [info] Controller state will be published at 50 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 18:44:01.175] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.97sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.98sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 2.13sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 2.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 2.43sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 2.43sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 3.14sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 3.14sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 4.31sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 4.31sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 4.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.61sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 4.61sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 5.37sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 5.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.45sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 5.45sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 6.39sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 6.40sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 7.39sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.51sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 7.53sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 104 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-11-18-43-52-770979-43a59b1618a4-9084 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.63sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.63sINFOcontroller_managerupdate rate is 600 Hz + 1.63sINFOcontroller_managerOverruns handling is : enabled + 1.63sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.63sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.72sINFOros2_control_node-1process started with pid [9131] ×2 + 1.72sINFOmove_group-9process started with pid [9157] ×2 + 1.72sINFOparameter_manager_node-10process started with pid [9158] ×2 + 1.72sINFOwaypoint_manager_node-11process started with pid [9159] ×2 + 1.72sINFOmove_joint_resampler_node-12process started with pid [9160] ×2 + 1.72sINFOmove_end_effector_resampler_node-13process started with pid [9161] ×2 + 1.72sINFOobjective_server_node_main-14process started with pid [9162] ×2 + 1.72sINFOcomponent_container_mt-15process started with pid [9163] ×2 + 1.72sINFOexecute_objective_bridge-16process started with pid [9164] ×2 + 1.72sINFOui_teleop_bridge-17process started with pid [9165] ×2 + 1.72sINFOweb_bridge-18process started with pid [9166] ×2 + 1.72sINFOtf2_web_republisher_node-19process started with pid [9167] ×2 + 1.72sINFOweb_video_server-20process started with pid [9281] ×2 + 1.72sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9132] ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9133] ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9134] ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9135] ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9137] ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9139] ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9142] ×2 + 1.74sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.74sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.74sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.74sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.74sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.74sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 1.77sINFOcontroller_managerReceived robot description from topic. + 1.77sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.77sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.77sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402203 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402203 ms (missed cycles : 3).[0m ×2 + 1.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.79sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.79sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.15sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.15sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.16sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.17sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535528 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535528 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 50 warnings · 434 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9142] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.07sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.29sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9132] ×2 + 0.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.48sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.51sINFOros2_control_node[2026-06-11 18:43:59.656] [info] Controller state will be published at 10 Hz. ×2 + 0.51sINFOros2_control_node[2026-06-11 18:43:59.657] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.82sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.82sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.82sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.82sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9139] ×2 + 0.87sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.90sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.90sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.90sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.90sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.90sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.91sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.91sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.91sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.91sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.91sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.91sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.92sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9135] ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.49sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.49sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 1.52sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.52sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.52sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.52sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.52sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.52sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.52sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.52sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.52sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.53sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.53sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.53sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203440.74805307 seconds. ×3 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203440.75830841 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.86sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.86sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.86sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.86sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9134] ×2 + 1.94sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 1.94sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 1.99sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 1.99sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.99sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.99sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.02sINFOros2_control_node[2026-06-11 18:44:01.169] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.02sINFOros2_control_node[2026-06-11 18:44:01.169] [info] Controller state will be published at 50 Hz. ×2 + 2.03sINFOros2_control_node[2026-06-11 18:44:01.175] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 2.47sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 2.47sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 3.63sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 3.63sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 3.92sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 4.63sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 4.64sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 5.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 6.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 6.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 6.10sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 6.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 6.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.86sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 6.86sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 6.92sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.94sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 50 warnings · 434 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9142] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.07sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.29sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9132] ×2 + 0.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.48sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.51sINFOros2_control_node[2026-06-11 18:43:59.656] [info] Controller state will be published at 10 Hz. ×2 + 0.51sINFOros2_control_node[2026-06-11 18:43:59.657] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.82sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.82sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.82sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.82sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9139] ×2 + 0.87sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.90sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.90sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.90sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.90sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.90sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.91sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.91sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.91sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.91sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.91sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.91sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.92sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9135] ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.49sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.49sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 1.52sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.52sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.52sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.52sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.52sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.52sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.52sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.52sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.52sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.53sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.53sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.53sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203440.74805307 seconds. ×3 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203440.75830841 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.86sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.86sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.86sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.86sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9134] ×2 + 1.94sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 1.94sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 1.99sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 1.99sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.99sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.99sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.02sINFOros2_control_node[2026-06-11 18:44:01.169] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.02sINFOros2_control_node[2026-06-11 18:44:01.169] [info] Controller state will be published at 50 Hz. ×2 + 2.03sINFOros2_control_node[2026-06-11 18:44:01.175] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 2.47sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 2.47sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 3.63sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 3.63sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 3.92sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 4.63sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 4.64sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 5.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 6.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 6.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 6.10sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 6.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 6.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.86sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 6.86sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 6.92sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.94sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 50 warnings · 434 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9142] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.07sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.29sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9132] ×2 + 0.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.48sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.51sINFOros2_control_node[2026-06-11 18:43:59.656] [info] Controller state will be published at 10 Hz. ×2 + 0.51sINFOros2_control_node[2026-06-11 18:43:59.657] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.82sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.82sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.82sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.82sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9139] ×2 + 0.87sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.90sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.90sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.90sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.90sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.90sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.91sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.91sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.91sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.91sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.91sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.91sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.92sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9135] ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.49sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.49sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 1.52sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.52sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.52sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.52sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.52sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.52sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.52sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.52sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.52sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.53sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.53sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.53sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6).[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203440.74805307 seconds. ×3 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203440.75830841 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.86sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.86sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.86sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.86sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9134] ×2 + 1.94sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 1.94sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 1.99sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 1.99sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.99sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.99sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.02sINFOros2_control_node[2026-06-11 18:44:01.169] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.02sINFOros2_control_node[2026-06-11 18:44:01.169] [info] Controller state will be published at 50 Hz. ×2 + 2.03sINFOros2_control_node[2026-06-11 18:44:01.175] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 2.47sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 2.47sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 3.63sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 3.63sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 3.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 3.92sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 4.63sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 4.64sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 5.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 6.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 6.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 6.10sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 6.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 6.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.86sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 6.86sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 6.92sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.94sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 48 warnings · 382 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9139] ×2 + 0.06sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.08sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.09sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.09sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.10sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9135] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.68sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.68sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.68sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.68sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.68sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.68sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.70sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.70sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.70sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.70sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.70sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.70sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.70sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.70sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.70sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.70sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.71sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.71sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.72sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6).[0m ×2 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203440.74805307 seconds. ×3 + 0.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203440.75830841 seconds ×3 + 0.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.04sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.04sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9134] ×2 + 1.13sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 1.13sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 1.17sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.18sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.18sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_node[2026-06-11 18:44:01.169] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.21sINFOros2_control_node[2026-06-11 18:44:01.169] [info] Controller state will be published at 50 Hz. ×2 + 1.21sINFOros2_control_node[2026-06-11 18:44:01.175] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 1.65sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 1.65sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 2.81sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 2.81sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 3.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 3.11sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 4.99sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 5.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 5.29sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 5.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 6.02sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.04sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 6.04sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.12sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 6.12sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 54 warnings · 306 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.02sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.04sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310685 ms (missed cycles : 6).[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781203440.74805307 seconds. ×3 + 0.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781203440.75830841 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9134] ×2 + 0.45sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 + 0.45sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_sxm8lmq_ --params-file /tmp/launch_params_z8ez5eol --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_a2dr3mdi --params-file /tmp/launch_params_lwqwq_57 [0m ×2 + 0.50sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.50sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.50sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.50sINFOros2_control_node[2026-06-11 18:44:01.140] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.51sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 18:44:01.169] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.53sINFOros2_control_node[2026-06-11 18:44:01.169] [info] Controller state will be published at 50 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 18:44:01.175] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.97sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.98sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 2.13sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 2.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 2.43sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 2.43sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 3.14sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 3.14sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 4.31sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 4.31sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 4.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.61sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 4.61sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 5.37sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 5.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.45sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 5.45sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 6.39sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 6.40sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_pose.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 48 warnings · 235 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 + 7.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.26sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.27sINFOros2_control_node[2026-06-11 18:44:08.607] [info] Received new action goal ×2 + 7.27sINFOros2_control_node[2026-06-11 18:44:08.607] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 48 warnings · 224 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781203441.33560944 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9137] ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1975.225 us (Expected < 1666.667 us) --> Read time : 343.564 us, Update time : 96.805 us, Write time : 1534.856 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340550 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781203442.39573956 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 5518.528 us (Expected < 1666.667 us) --> Read time : 222.070 us, Update time : 4761.095 us, Write time : 535.363 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973050 ms (missed cycles : 2).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781203442.97431278 seconds. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781203443.05455112 seconds ×3 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2039.018 us (Expected < 1666.667 us) --> Read time : 335.034 us, Update time : 1123.959 us (Switch time : 93.174 us (Switch chained mode time : 0.500 us, perform mode change time : 6.541 us, Activation time : 0.600 us, Deactivation time : 84.823 us)), Write time : 580.025 us[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781203443.78350973 seconds. ×3 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 5135.091 us (Expected < 1666.667 us) --> Read time : 236.230 us, Update time : 4275.434 us, Write time : 623.427 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781203443.80386591 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232646 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781203444.37889028 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781203444.52945733 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038391 ms (missed cycles : 4).[0m ×2 + 3.62sWARNcontroller_managerOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us + 3.62sWARNros2_control_nodeOverrun might occur, Total time : 4011.093 us (Expected < 1666.667 us) --> Read time : 207.239 us, Update time : 3129.095 us, Write time : 674.759 us[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781203445.19263268 seconds. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 3912.498 us (Expected < 1666.667 us) --> Read time : 282.772 us, Update time : 3063.572 us (Switch time : 3003.409 us (Switch chained mode time : 0.450 us, perform mode change time : 3.500 us, Activation time : 2993.589 us, Deactivation time : 0.380 us)), Write time : 566.154 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781203445.25276232 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531690 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781203445.95771337 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 1719.135 us (Expected < 1666.667 us) --> Read time : 255.071 us, Update time : 775.894 us, Write time : 688.170 us[0m ×2 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.2791e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.087] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-06-11 18:44:06.088] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.623349 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2088.150 us (Expected < 1666.667 us) --> Read time : 294.173 us, Update time : 525.583 us, Write time : 1268.394 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142601 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 10328.555 us (Expected < 1666.667 us) --> Read time : 295.753 us, Update time : 71.123 us, Write time : 9961.679 us[0m ×2 | ||||